Segmented force feedback transitions between control states

Abstract

The present application relates to segmented force feedback transitions between control states and provides a surgical system comprising: an input device; and a controller for receiving control input from the input device and for providing tactile feedback at the input device, the controller being configured to apply a segmented transition from a first tactile feedback profile at the input device to a second tactile feedback profile at the input device.

Description

[0001] This application is a divisional application of Chinese patent application 201780006338.X filed on January 12, 2017 and entitled “Segmented Force Feedback Transition Between Control States”.

[0002] Priority declaration

[0003] This application claims priority to U.S. Provisional Patent Application No. 62 / 277,820, filed on January 12, 2016, the entire contents of which are incorporated herein by reference. Technical Field

[0004] The present invention relates to systems and methods for providing tactile feedback to an operator of a surgical system, and more particularly to maintaining an intuitive tactile profile for the user as the control state of the system changes. Background Art

[0005] Remotely operated surgical systems are often intended to improve the doctor's precision and / or reduce patient trauma during medical surgery. In such a system, the surgeon interacts with an input device (sometimes referred to as a "master device" or "master controller") to control surgical instruments actuated by a drive mechanism (e.g., a motor). Since the surgeon does not directly manipulate the surgical instrument, it may sometimes be beneficial to provide tactile feedback at the input device to indicate or replicate the force felt by the surgical instrument. In order to provide a good user experience, the surgeon will ideally experience a seamless tactile experience through system state and configuration changes. However, this may be difficult to achieve, especially when a given input device is used for multiple different control states. For example, a single input device can be used to control multiple different instruments (needing to switch control between these different instruments), can be used to control the overall positioning of the surgical system (e.g., changing the viewpoint of the endoscope that is observing the anatomical area of ​​interest), can be used to change the settings of the surgical system, and / or can be simply separated from any control effect.

[0006] Simply activating / deactivating / changing tactile feedback in response to such a control state change can produce jerky and unintuitive interactions. If force is applied to the user in one state and not applied to the user in the next state, immediately changing the force from full force to no force can be confusing to the user. For example, when transitioning from controlling an instrument with tactile feedback to controlling an instrument without tactile feedback (e.g., an endoscope) or otherwise entering a control state without tactile feedback (or even different tactile feedback), such as an instrument change (i.e., removing the instrument from the manipulator), exiting follow-up (i.e., disabling control of the instrument via the input device), or arm change (i.e., changing the surgical instrument / robotic arm / manipulator under control of the input device), the immediate loss of tactile feedback can feel like an unexpected loss of resistance to the user.

[0007] When a user transitions from an instrument with no force applied (or low force applied) to an instrument with force applied (high force), the user finds it equally confusing if force feedback is enabled immediately. This happens, for example, when we transition from camera control back to an instrument with force feedback. This also happens any time a user initially controls an instrument (e.g., first entering a transition with the instrument following).

[0008] Another problem arises when the user is changing the control state to an intermediate state, where no control is being exerted although the control state is still associated with a specific instrument (e.g. clutched, entering UI, etc.). Turning force feedback off during the intermediate state and turning it back on when returning to direct control of the instrument is not ideal for the user. Often these intermediate control states are short lived, so quickly turning the force on / off can be problematic.

[0009] It should be noted that the force feedback presented to the user may be the sum of feedback from sensors, algorithms, user interface prompts, collision detection, etc. Summary of the invention

[0010] To alleviate the discomfort of abrupt force transitions when changing control states, a stepwise transition from the original force displayed at the input device (and therefore, to the user) to a level appropriate for the new control state may be performed.

[0011] In some embodiments, the haptic feedback force vector transitions (transitions in direction and / or magnitude within some non-zero time) from force A to force B. Force A may be greater or less than force B in magnitude (or equivalent in some embodiments, where the transition is only a directional transition). The profile of the piecewise transition from force A to force B in magnitude may be any profile that occurs over time, including a linear or curvilinear transition, and may include a discontinuous transition (e.g., a step) as part of the transition.

[0012] In some embodiments, for a control state change involving entering an intermediate mode in which a user remains associated with a particular instrument, force feedback may be maintained at the level most recently experienced when the user ceased direct control of the instrument. For example, if the control state transitions from instrument control (follow-up) to non-instrument control (exit follow-up), the tactile feedback at the associated input device may be maintained at its current level for at least a period of time. In various embodiments, after such a stabilization time, a staged transition to a reduced force or no force state may then be applied.

[0013] It should be understood that the above general description and the following detailed description are exemplary and explanatory in nature, and are intended to provide an understanding of the present disclosure rather than to limit the scope of the present disclosure. In this regard, according to the following detailed description, other aspects, features and advantages of the present disclosure will be apparent to those skilled in the art. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] When read in conjunction with the accompanying drawings, the various aspects of the present disclosure can be fully understood from the following detailed description. It should be emphasized that, in accordance with standard practice in the industry, various features are not drawn to scale. In fact, for the sake of clarity, the size of various features can be increased or reduced at will. In addition, the present disclosure may repeat reference numerals and / or letters in various examples. This repetition is for the purpose of simplicity and clarity and does not in itself represent the relationship between the various embodiments and / or configurations discussed.

[0015] Figure 1A-1B Methods of providing intuitive tactile feedback to a user of a surgical system during control state changes according to various embodiments of the present invention are presented.

[0016] Figure 2A Exemplary haptic force vector transitions during a control state change are shown in accordance with various embodiments of the present invention.

[0017] Figure 2B Exemplary haptic force feedback transition profiles are shown according to various embodiments of the invention.

[0018] Figures 3A-3C An exemplary surgical system that provides haptic force feedback transitions in response to changes in control states according to various embodiments of the present invention is shown. DETAILED DESCRIPTION

[0019] In the following detailed description of various aspects of the present invention, many specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to those skilled in the art that embodiments of the present disclosure may be implemented without these specific details. In other examples, well-known methods, processes, components, and circuits are not described in detail to avoid unnecessarily obscuring various aspects of embodiments of the present invention. Furthermore, in order to avoid unnecessary descriptive repetition, one or more components or actions applicable to other illustrative embodiments described according to one illustrative embodiment may be used or omitted.

[0020] By providing segmented transitions between force feedback profiles as the control state of the surgical system changes, an intuitive tactile experience may be maintained for the user of the surgical system.

[0021] Figure 1AAn exemplary method for providing such a staged tactile transition is shown. In the provide tactile feedback step 110, the surgical system allows a user (e.g., a surgeon) to control a surgical instrument (and / or other elements of the surgical system, such as a robotic arm, an assembly structure, or a positioning element such as a boom or cart) via one or more input devices (e.g., one or more control rods, clamps, joysticks, and / or any other structure capable of receiving user input), and then provides force feedback to the input device based on a desired tactile feedback profile (a collection of one or more tactile feedback effects that at least partially reproduce or recreate the physical experience of a real or virtual / modeled interaction). The tactile feedback profile can be based on any tactile model input, such as forces sensed at an instrument (e.g., tissue or other instrument interaction) or a robotic arm (e.g., an arm colliding with a structure or strut), a user guidance device (e.g., a tactile stop, guard, or other profile for providing guidance to a user to move one or more input devices along a desired path or trajectory), and a user interface (UI) element (e.g., presenting a virtual handle or steering wheel to the user). The transformation applied to the desired tactile feedback profile to generate tactile feedback at the input device may be in the form of a direct copy of the tactile feedback profile, a scaling of the tactile feedback profile, a non-linear modification applied to the tactile feedback profile, or any other transformation (e.g., a force scaling that varies depending on one or more other factors such as instrument state / speed, viewing magnification, etc.). The tactile feedback in step 110 may also include forces calculated based on additional sensors of the surgical system (e.g., position sensors, buttons, or contact sensors).

[0022] Then, in a change control mode step 120, a control mode change in the surgical system occurs (typically in response to a user command / action, but in other examples, in response to an external command, such as a system timer or alarm or a third party action / command) such that the input at the input device no longer provides the same effect at the surgical instrument. For example, in a surgical system that includes both a surgical instrument and a camera (e.g., an endoscope), there may be a situation where the control state changes from a state in which the input device is controlling the surgical instrument to a "camera control mode" in which the input device is controlling the viewpoint of the camera / field of view of the surgical site. If the input device is providing tactile feedback to the user when such a change in control state occurs, then immediately removing the tactile feedback in response to the change will result in a sudden loss of force feedback at the input device, which may be confusing and / or disorienting to the user.

[0023] Thus, a piecewise transition from the original haptic feedback profile to the desired haptic feedback profile for the new control state is performed in the apply piecewise haptic feedback transition step 130. In other words, the transition from the original haptic feedback profile to the desired haptic feedback profile includes at least one intermediate stage that reduces abrupt changes in the haptic feedback that would occur in an immediate switch between the old haptic profile and the new haptic profile corresponding to a switch between control states.

[0024] Typically, such a transition from an original haptic feedback profile to a desired (new) haptic feedback profile will involve an adjustment to the force feedback vector expressed at the input device. Figure 2A It shows that the initial force F A To Sony F B An exemplary tactile force feedback vector transition of Force F A Can be greater or less than force F B (or equivalently in some embodiments, where the transition is a directional transition only). A To Sony F B The segmented transition of can take any path, including linear or curved transitions, and can include discontinuous transitions (e.g., steps) as part of the transition. Figure 2B Several exemplary piecewise transitions between tactile feedback profiles that may occur in response to step 120 are shown, including straight linear scaling (#1), monotonic scaling (#2), sawtooth bidirectional scaling (#3), and curved multidirectional scaling (#4). In some cases, the transitions may move the force magnitude through a zero force state (e.g., #3 and #4). In various other embodiments, the force F may be shifted from a zero force state to a zero force state. A To force F B Several algorithms can be used to transition the force F A and F B Scaling variants of the sum to create an intermediate direction vector or to maintain the same A Align for a while and then with force F B Alignment.

[0025] Note that in some embodiments, "phantom" haptic feedback may be maintained when changing between a control state that has haptic feedback and a control state that would not normally generate haptic feedback. Figure 1B An exemplary method for providing this type of stable transition is shown.

[0026] As mentioned above about Figure 1AAs described, in the providing tactile feedback step 110, the surgical system is in a control state that provides force feedback to the input device based on a tactile model input, the tactile model input being, for example, a force sensed at the instrument and / or other system structure or a tactile feedback profile based on a virtual or synthetic interactive element (e.g., a user interface element, a virtual guard, and / or other elements such as a virtual control feature). Also as described above, the tactile feedback in step 110 may also include a force calculated based on an additional sensor of the surgical system (e.g., a position sensor, a button, or a contact sensor). And in the changing control mode step 120, the control state of the surgical system is changed to a control state to which tactile feedback is not associated (or is different from the original tactile feedback profile), such as a system setup mode, an arm change mode (i.e., switching control to a different instrument on the surgical system), or exiting a follow-up mode (i.e., simply disabling the control link between the input device and the surgical instrument).

[0027] Then, in the maintain tactile feedback step 125, the tactile feedback profile remains unchanged even if the control state of the system changes. This tactile feedback consistency can sometimes provide a more intuitive experience for the user compared to completely changing or eliminating the feedback. For example, changing from an instrument control state (having tactile feedback) to a control state in which the input device is used to change a system parameter (e.g., select a menu option) and therefore does not have any logical tactile feedback relationship with the surgical instrument force, it may be beneficial to simply maintain the feedback profile from the instrument control state even during the system setting control state, so that when the control state changes back to the instrument control state, the user is not surprised by the sudden force feedback at the input device. Therefore, even if the tactile feedback profile in the new state is technically inconsistent with the control action performed at the input device for the new state, the tactile inconsistency can actually provide a more consistent user experience.

[0028] Note that in some embodiments, step 125 may include superimposing or adding additional haptic feedback associated with the new control state to the original haptic feedback profile. For the system setting example above, certain haptic feedback effects may be associated with the system setting control state, such as a haptic "click" or "bump" when a setting is changed or selected. In some embodiments, such haptic effects may be provided along with the original force feedback from the previous control state.

[0029] It should also be noted that in some embodiments, after the tactile feedback of step 125 is maintained, a transition step 130 of applying segmented tactile feedback may be performed, as described above with respect to Figure 1AIn this case, after the control state is changed in step 120, the haptic feedback profile will initially not change, but will eventually undergo a piecewise transition to a new haptic feedback profile.

[0030] Figure 3A A block diagram of a surgical system 300 is shown, which includes the surgical system described above. Figure 1A and / or the tactile feedback described in 1B and a device for providing an intuitive tactile experience to a user. The surgical system 300 includes an instrument 310 (e.g., a forceps, a cutter, a retractor, a blood vessel sealer, a needle driver, a catheter, etc.) for performing surgical tasks; an input device 330 (e.g., one or more control rods, one or more clamps, one or more joysticks, and / or any other structure capable of receiving user input) for receiving input from a user (e.g., a surgeon); and a controller 320, the controller 320 is used to receive input instructions from the input device 330, control the action of the instrument 310 accordingly via the manipulation structure 313, and provide instructions to the tactile feedback actuator 340 to provide tactile feedback to the input device 330 according to the desired tactile feedback profile. In various embodiments, the manipulation structure 313 may include any number of systems and structures for manipulating, positioning, actuating, or otherwise controlling the behavior of the instrument 310 (including one or more robotic arms / manipulators, one or more assembly structures, and / or one or more positioning elements such as one or more booms or one or more carts, etc.). The controller 320 may include any combination of hardware, software, firmware, and other modalities for generating, managing, controlling, and implementing the actions described herein. In various embodiments, the controller 320 may be integrated with the apparatus 310, the input device 330, and / or discrete control hardware (e.g., an independent processing unit or computing platform).

[0031] For illustrative purposes, Figure 3A The surgical system 300 is shown in a control state A, in which the input device 330 is controlling the instrument 310. Figure 3A As shown, the surgeon has used input device 330 to grasp and retract a portion of tissue 390 with end effector 311 on shaft 312 of instrument 310. This generates a downward force Fs at end effector 311, and in response, controller 320 transmits a tactile feedback force FA to input device 330 (e.g., as described with respect to step 110 above). In this way, the surgeon will "feel" the resistance provided by tissue 390 as it is being retracted.

[0032] Note that this description of control state A is for exemplary purposes only, as the initial control state A may be any state of surgical system 300. For example, while the tactile feedback contour force FA is described as being from the force FS sensed at the end effector 311 of instrument 310 for exemplary purposes, in various other embodiments, force FS may be sensed at any location at input device 330 where corresponding tactile feedback would be beneficial, such as at the interaction of shaft 312 or any other element of manipulation structure 313 (e.g., arm pressure against a structure or strut).

[0033] In various other embodiments, the force FS can be defined based on non-physical parameters, such as the synthetic interactive elements described above. For example, in some embodiments, the surgical system 300 can include an optional display 350 (e.g., one or more monitors, one or more immersion (head-in) viewers, a projector, one or more video glasses / helmets, and / or any other graphical display element). In various embodiments, the display 350 can present a virtual or synthetic element 361 that can be interacted with via the input device 330. In some embodiments, the synthetic element 361 can be used as a supplemental interface to interact with the physical components of the surgical system 300. For example, as Figure 3A As shown, composite element 361 can be a virtual handle or knob that can be "grabbed" and dragged using input device 330 to reposition instrument 310 at the surgical site. In other embodiments, composite element 361 can provide a purely virtual interaction element, such as a dial, toggle, joystick, or any other structure for controlling surgical system 300. In any case, by generating a tactile feedback profile based on the model force FS1 associated with interaction with composite element 361 (e.g., the radially outward resistance generated by grasping a circular knob), controller 320 can then attempt to provide an appropriate tactile feedback profile force FA at input device 330.

[0034] In various other embodiments, surgical system 300 can provide guidance to the user regarding the movement of instrument 310 and / or input device 330. For example, a desired motion of instrument 310 (e.g., a target or safe anatomical path, a desired retraction motion, or any other beneficial joint motion) can optionally be defined as trajectory 362. By generating a tactile feedback profile based on a model force FS2 associated with maintaining the position of instrument 310 along trajectory 362 (e.g., an inwardly directed force generated when deviating from trajectory 362), controller 320 can then attempt to provide an appropriate tactile feedback profile force FA at input device 330.

[0035] Then, in the exemplary control state, change to Figure 3B310 (e.g., as described above with respect to step 120), the input device 330 transfers its control from its existing element (e.g., the original instrument 310, such as a retractor) to the new element (e.g., instrument 310(2), such as a needle driver for suturing tissue 390). The change in control state generates a force Fs' at the new element (e.g., instrument 310(2)), which is different from the force Fs at the original element (e.g., instrument 310), and thus needs to be expressed as a tactile feedback F at the input device 330. B Thus, during the time (t2-t1), a segmented transition from the tactile force feedback FA to FB is performed, as described above with respect to step 130. As previously described, due to the segmented transition, the user at the input device 330 does not experience a transition from the force feedback F to the tactile force feedback FB. A to F B The stepwise transition will ensure that the tactile feedback representing the retracting tissue of the support does not disappear immediately, or that the feeling of holding a virtual knob or handle does not disappear immediately.

[0036] In other embodiments, from Figure 3A Control state A to Figure 3C Another exemplary control state change of the new control state C shown in FIG. 1 (e.g., as described with respect to step 125 above) transfers the input device 330 from control of the instrument 310 (or any other control state with tactile feedback) to the system settings selection interface 321 (or any other control state without tactile feedback (or different tactile feedback)). Here, the tactile feedback profile is maintained even though the control state changes, and thus the feedback force at the input device 330 is maintained as force F even though the settings selection menu is not a force generating environment. A Thus, the user will not be surprised by the sudden disappearance of force feedback at the input device (or the sudden reappearance of force feedback once the selection menu is exited).

[0037] As described above, in some embodiments, when a setting is changed or selected, the tactile force F is retained. A Superimposed with additional tactile feedback, the additional tactile feedback (eg, a tactile "click" or "bump") is associated with the new control state. As further noted above, the maintained tactile feedback may be followed by a subsequent segmented transition to a new tactile feedback profile.

[0038] Although certain exemplary embodiments of the present invention have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of the broad invention and not restrictive, and that the embodiments of the present invention are not limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those skilled in the art.

Claims

1. A computer readable medium comprising executable instructions which, when executed on a teleoperated surgical system comprising an input device and a controller, cause the teleoperated surgical system to perform a method comprising: generating a first tactile feedback profile at the input device, the first tactile feedback profile being associated with a first control state of the teleoperated surgical system; detecting a change from the first control state to one of a second control state of the teleoperated surgical system or a third control state of the teleoperated surgical system; responsive to detecting the change from the first control state to the second control state, applying, via a controller, a stepwise transition from the first tactile feedback profile to a second tactile feedback profile generated at the input device, the second tactile feedback profile being associated with the second control state; and In response to detecting the change from the first control state to the third control state, maintaining, via the controller, the first tactile feedback profile at the input device with the teleoperated surgical system in the third control state.

2. The computer-readable medium of claim 1, wherein: The method further comprises: controlling an instrument with the teleoperated surgical system in the first control state based on input received via the input device; receiving sensed force data from the instrument; and The first haptic feedback profile is generated based on the sensed force data.

3. The computer-readable medium of claim 1, wherein: The first haptic feedback profile is based on a synthetic interactive element generated by the controller.

4. The computer-readable medium according to any one of claims 1 to 3, wherein: The stepwise transition includes scaling a force magnitude of the first haptic feedback profile.

5. The computer-readable medium according to any one of claims 1 to 3, wherein: The stepwise transition includes changing a force angle of the first haptic feedback profile.

6. A remotely operated surgical system, comprising: Input device; as well as a controller for receiving control input from the input device and for providing tactile feedback at the input device; Wherein the controller is configured to apply a segmented transition from the first non-zero tactile feedback profile at the input device to the second non-zero tactile feedback profile at the input device when the teleoperated surgical system transitions from a first control state associated with a first non-zero tactile feedback profile to a second control state associated with a second non-zero tactile feedback profile.

7. The teleoperated surgical system according to claim 6, wherein: The piecewise transition includes a linear scaling of the first non-zero haptic feedback profile.

8. The teleoperated surgical system according to claim 6, wherein: The piecewise transition includes a curvilinear scaling of the first non-zero haptic feedback profile.

9. The teleoperated surgical system according to claim 6, wherein: The piecewise transition includes a directional modification of the first non-zero haptic feedback profile.

10. The teleoperated surgical system according to any one of claims 6 to 9, wherein: The stepwise transition includes a zero force state.

11. The teleoperated surgical system according to any one of claims 6 to 9, wherein: The stepwise transition includes scaling a force magnitude of the first non-zero haptic feedback profile.

12. The teleoperated surgical system according to any one of claims 6 to 9, wherein: The teleoperated surgical system further comprises an instrument; and The first control state comprises an instrument control state, in which the teleoperated surgical system controls the instrument.

13. The teleoperated surgical system according to any one of claims 6 to 9, wherein: The first control state and the second control state include different modes among an instrument control mode, a clutch mode, an instrument exchange mode, a camera control mode, a system setting mode, an arm exchange mode, a follow-up exit mode and a synthetic interactive element manipulation mode.

14. A computer readable medium comprising executable instructions which, when executed on the teleoperated surgical system according to claim 6, cause the teleoperated surgical system to perform a method comprising: generating a first non-zero tactile feedback profile at an input device of a teleoperated surgical system, the first non-zero tactile feedback profile being associated with a first control state of the teleoperated surgical system; generating a second non-zero tactile feedback profile at the input device, the second non-zero tactile feedback profile being associated with a second control state of the teleoperated surgical system; as well as In response to detecting a change from the first control state to the second control state, a stepwise transition from the first non-zero tactile feedback profile to the second non-zero tactile feedback profile is applied.

15. The computer-readable medium of claim 14, wherein: The method further comprises: controlling an instrument with the teleoperated surgical system in the first control state based on input received via the input device; receiving sensed force data from the instrument; and The first non-zero haptic feedback profile is generated based on the sensed force data.

16. The computer-readable medium of claim 14, wherein: The first non-zero haptic feedback profile is based on a synthetic interactive element generated by the controller.

17. The computer-readable medium of any one of claims 14 to 16, wherein: The stepwise transition includes scaling a force magnitude of the first non-zero haptic feedback profile.

18. The computer-readable medium of any one of claims 14-16, wherein: The stepwise transition includes changing a force angle of the first non-zero haptic feedback profile.

19. A computer readable medium comprising executable instructions which, when executed on the teleoperated surgical system according to claim 6, cause the teleoperated surgical system to perform a method comprising: generating a first tactile feedback profile at the input device; detecting a change from the first control state to the second control state; applying the segmented transition from the first tactile feedback profile to a second tactile feedback profile; as well as The first tactile feedback profile at the input device is maintained when the teleoperated surgical system transitions from the first control state to a third control state of the teleoperated surgical system.

20. The computer-readable medium of claim 19, wherein: The method further comprises: controlling an instrument with the teleoperated surgical system in the first control state based on input received via the input device; receiving sensed force data from the instrument; and The first haptic feedback profile is generated based on the sensed force data.

21. The computer-readable medium of claim 19, wherein: The first haptic feedback profile is based on a synthetic interactive element generated by the controller.

22. The computer-readable medium of any one of claims 19-21, wherein: The stepwise transition includes scaling a force magnitude of the first haptic feedback profile.

23. The computer readable medium of any one of claims 19-21, wherein: The stepwise transition includes changing a force angle of the first haptic feedback profile.

24. A teleoperated surgical system comprising an input device and stored instructions, the instructions causing the teleoperated surgical system to perform actions, the actions comprising: operating in one of a first control state, a second control state, or a third control state, the first control state, the second control state and the third control state are different from each other, a first tactile feedback profile applied to the input device is associated with the first control state, and a second tactile feedback profile applied to the input device associated with the second control state; applying tactile feedback at the input device based on the first tactile feedback profile when the teleoperated surgical system is in the first control state; applying, at the input device, a stepwise transition of tactile feedback from the first tactile feedback profile to the second tactile feedback profile when the teleoperated surgical system transitions from the first control state to the second control state; applying tactile feedback at the input device based on the second tactile feedback profile when the teleoperated surgical system is in the second control state; maintaining tactile feedback at the input device based on the first tactile feedback profile when the teleoperated surgical system transitions from the first control state to the third control state; and When the teleoperated surgical system is in the third control state, tactile feedback is maintained at the input device based on the first tactile feedback profile.

25. The teleoperated surgical system of claim 24, wherein: The first tactile feedback profile is based on a sensed force on an object controlled by the input device in the first control state.

26. The teleoperated surgical system of claim 24, wherein: The second tactile feedback profile is based on a sensed force on an object controlled by the input device in the second control state.

27. The teleoperated surgical system of claim 24, wherein: The first tactile feedback profile is based on a virtual or synthetic interactive element controlled by the input device in the first control state.

28. The teleoperated surgical system of claim 24, wherein: The second tactile feedback profile is based on a virtual or synthetic interactive element controlled by the input device in the second control state.

29. The teleoperated surgical system of claim 24, wherein: The first tactile feedback profile provides guidance regarding an object controlled by the input device.

30. The teleoperated surgical system of claim 24, wherein: The second tactile feedback profile provides guidance regarding an object controlled by the input device.

31. The teleoperated surgical system of claim 24, wherein: The third control state is a control state in which the input device is used to change a parameter of the teleoperated surgical system.

32. The teleoperated surgical system of claim 24, wherein: When the teleoperated surgical system is in the third control state, only tactile feedback based on the first tactile feedback profile is applied to the input device.

33. The teleoperated surgical system of claim 24, wherein: The stepwise transition includes scaling a force magnitude of the first haptic feedback profile.

34. The teleoperated surgical system of claim 24, wherein: The stepwise transition includes changing a force angle of the first haptic feedback profile.

35. The teleoperated surgical system of claim 24, wherein: The stepwise transition includes a linear scaling of the first haptic feedback profile.

36. The teleoperated surgical system of claim 24, wherein: The piecewise transition includes a curvilinear scaling of the first haptic feedback profile.

37. The teleoperated surgical system of claim 24, wherein: The stepwise transition includes a directional modification of the first haptic feedback profile.

38. The teleoperated surgical system of claim 24, wherein: The segmented transition includes zero haptic force applied at the input device.

39. A teleoperated surgical system according to any one of claims 24-38, wherein: The stored instructions cause the teleoperated surgical system to apply a stepwise transition of tactile feedback from the second tactile feedback profile to the first tactile feedback profile at the input device when the teleoperated surgical system transitions from the second control state to the first control state.

40. The teleoperated surgical system according to any one of claims 24-38, wherein: The first control state controls a first surgical instrument; and The second control state controls a second surgical instrument.

41. A teleoperated surgical system according to any one of claims 24-38, wherein: The first control state and the second control state include different modes of: Device control mode; Clutch mode; Device exchange model; Camera control mode; System setup mode; Arm exchange mode; Follow-up exit mode; and Synthesize interactive element manipulation mode.

42. A teleoperated surgical system according to any one of claims 24-38, wherein: The teleoperated surgical system is a surgical system.

43. A computer readable medium for use in a teleoperated surgical system, the computer readable medium comprising the stored instructions of any one of claims 24-38.

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