Techniques for controlling the cone of articulation of instruments

Abstract

Techniques for controlling the cone of articulation in wristed instruments include a repositionable structure configured to support an instrument, an input control, and a control system. The control system is configured to control the instrument based on input received from an operator using the input control device, wherein controlling the instrument comprises controlling one or more of an insertion distance of the instrument and at least a first degree of freedom of a wrist of the instrument; determine the insertion distance of the instrument; determine, based on the insertion distance, an articulation limit for the first degree of freedom; and drive, using one or more actuators, the first degree of freedom subject to the articulation limit. Controlling the instrument includes controlling one or both of a position or an orientation of the instrument.

Description

Attorney Docket No. P06998-WO:0141PCTECHNIQUES FOR CONTROLLING THE CONE OF ARTICULATION OF INSTRUMENTSRELATED APPLICATIONS

[0001] This application claims the benefit to U.S. Provisional Patent Application No. 63 / 778,176, filed March 26, 2025, and entitled “Techniques for Controlling the Cone of Articulation of Instruments.” The subject matter of this related application is incorporated by reference herein.BACKGROUNDField of the Various Embodiments

[0002] Embodiments of the present disclosure relate generally to operation of devices with repositionable structures and end effectors and more particularly to techniques for controlling the cone of articulation of instruments.Description of the Related Art

[0003] The landscape of teleoperated technology is rapidly evolving, where conventional tools and instruments are increasingly being supplemented or replaced by sophisticated computer-assisted devices. For example, minimally invasive surgery (MIS) epitomizes the advancement in medical procedures, aiming to reduce the trauma on healthy tissues during surgical interventions. MIS procedures are predominantly facilitated by computer-assisted devices, which allow operators, such as surgeons, to remotely operate instruments with high precision. The interface between the operator and the instrument often includes advanced control systems, translating the surgeon's inputs into precise movements of surgical instruments within a workspace associated with patient anatomy, which is often referred to as teleoperation. Teleoperation, supplemented by semi-autonomous control capabilities, enables the performance of complex tasks.

[0004] Conventional methods for controlling teleoperated instruments, such as using wristed instruments that are inserted into a workspace though a port or other access site (e.g„ an incision or natural orifice in a medical example) typically involve direct manual operation or control through teleoperated mechanisms, where an operator uses physical controls or interfaces to dictate the movement and actions of the instruments. In manual operation, operators directly manipulate the instruments through access sites using skill and experience toAttorney Docket No. P06998-WO:0141PCjudge the appropriate distance, direction, and angle of said instruments. Teleoperated systems, on the other hand, extend the operator's capabilities to control instruments remotely using a physically separate input control device. Teleoperated systems typically feature a console where the operator manipulates input control devices that translate the operator’s movements into precise actions of repositionable structures and attached instruments. Examples of such teleoperated systems include platforms such as the da Vinci® Surgical System provided by Intuitive Surgical of Sunnyvale, California, where the operator's hand movements are translated into motions by the instruments, enabling a high degree of precision within a surgical workspace.

[0005] Many teleoperated operated instruments include an articulated wrist and / or a flexible shaft that allow the instrument to be inserted through a narrow access site along an insertion axis to reach a workspace. Once in the workspace, the articulated wrist and / or flexible shaft are adjusted to allow an end effector at a distal end of the instrument to be positioned and / or oriented to reach regions within the workspace. The articulated wrist and / or flexible shaft is allowed to change the orientation of the end effector relative to the insertion axis. The amount that the wrist and / or flexible shaft can orient the end effector relative to the insertion axis is sometimes referred to as a cone of articulation.

[0006] As the foregoing indicates, what is needed in the art are more effective techniques for controlling the cone of articulation of instruments.SUMMARY

[0007] Consistent with some embodiments, a computer-assisted system for controlling force in teleoperated instruments includes a repositionable structure configured to support an instrument, an input control device, and a control system. The control system is configured to control the instrument based on input received from an operator using the input control device; during the control of the instrument in a first mode, determine whether to switch control of the instrument to a second mode; in response to a determination to switch the control of the instrument to the second mode, switch control of the instrument to the second mode; and while in the second mode, actuate an actuator used to control the instrument subject to a second force or torque limit lower than a first force or torque limit used to actuate the actuator in the first mode. Controlling the instrument includes controlling one or both of a position or an orientation of the instrument.Attorney Docket No. P06998-WO:0141PC

[0008] Consistent with some embodiments, a method for controlling an instrument includes controlling the instrument based on input received from an operator using an input control device, wherein controlling the instrument comprises controlling one or more of an insertion distance of the instrument and at least a first degree of freedom of a wrist of the instrument; determining the insertion distance of the instrument; determining, based on the insertion distance, an articulation limit for the first degree of freedom; and driving, using one or more actuators, the first degree of freedom subject to the articulation limit.

[0009] Consistent with some embodiments, one or more non-transitory machine-readable media include a plurality of machine-readable instructions which when executed by one or more processors are adapted to cause the one or more processors to perform any of the methods described herein.

[0010] At least one technical advantage of the disclosed techniques relative to the prior art is that the disclosed techniques allow for controlling the cone of articulation of a wristed instrument or the repositionable structure supporting the wristed instrument, which mitigates potential complications, such as the instrument becoming lodged in the workspace. Another advantage of the disclosed techniques is that the disclosed techniques reduce the limitations imposed by a reliance on what the operator can see, which is particularly beneficial in scenarios where visibility is obstructed, or visual cues are insufficient to gauge the cone of articulation of the wristed instrument. These technical advantages provide one or more technological improvements over prior art approaches.BRIEF DESCRIPTION OF THE DRAWINGS

[0011] So that the manner in which the above recited features of the various embodiments can be understood in detail, a more particular description of the inventive concepts, briefly summarized above, can be had by reference to various embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of the inventive concepts and are therefore not to be considered limiting of scope in any way, and that there are other equally effective embodiments.

[0012] FIG. l is a simplified diagram of a computer-assisted system configured to implement one or more aspects of the present embodiments;Attorney Docket No. P06998-WO:0141PC

[0013] FIG. 2 illustrates the control application of FIG. 1 in more detail, according to various embodiments;

[0014] FIG. 3 illustrates an example of a wristed instrument, according to various embodiments;

[0015] FIG. 4 illustrates an example of a circular stapler, according to various embodiments;

[0016] FIG. 5A illustrates an example of an instrument inserted at a first insertion distance within a workspace, according to various embodiments;

[0017] FIG. 5B illustrates an example of an instrument inserted at second insertion distance within a workspace, according to various embodiments;

[0018] FIG. 6 illustrates a graph mapping effective insertion distance of an instrument to allowable articulation angle of the instrument, according to various embodiments; and

[0019] FIG. 7 is a flow diagram of method steps for controlling the cone of articulation of an instrument, according to various embodiments.DETAILED DESCRIPTION

[0020] The foregoing general description and the following detailed description are exemplary and explanatory in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. In that regard, additional aspects, features, and advantages of the present disclosure will be apparent to one skilled in the art from the following detailed description.

[0021] This description and the accompanying drawings that illustrate inventive aspects, embodiments, embodiments, or modules should not be taken as limiting — the claims define the protected invention. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the spirit and scope of this description and the claims. In some instances, well-known circuits, structures, or techniques have not been shown or described in detail in order not to obscure the invention. Like numbers in two or more figures represent the same or similar elements.

[0022] In this description, specific details are set forth describing some embodiments consistent with the present disclosure. Numerous specific details are set forth in order toAttorney Docket No. P06998-WO:0141PCprovide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that some embodiments may be practiced without some or all of these specific details. The specific embodiments disclosed herein are meant to be illustrative but not limiting. One skilled in the art may realize other elements that, although not specifically described here, are within the scope and the spirit of this disclosure. In addition, to avoid unnecessary repetition, one or more features shown and described in association with one embodiment may be incorporated into other embodiments unless specifically described otherwise or if the one or more features would make an embodiment non-functional.

[0023] Further, the terminology in this description is not intended to limit the invention. For example, spatially relative terms-such as “beneath”, “below”, “lower”, “above”, “upper”, “proximal”, “distal”, and the like-may be used to describe one element’s or feature’s relationship to another element or feature as illustrated in the figures. These spatially relative terms are intended to encompass different positions (i.e., locations) and orientations (i.e., rotational placements) of the elements or their operation in addition to the position and orientation shown in the figures. For example, if the content of one of the figures is turned over, elements described as “below” or “beneath” other elements or features would then be “above” or “over” the other elements or features. Likewise, descriptions of movement along and around various axes include various special element positions and orientations. In addition, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context indicates otherwise. And, the terms “comprises”, “comprising”, “includes”, and the like specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. Components described as coupled may be electrically or mechanically directly coupled, or they may be indirectly coupled via one or more intermediate components.

[0024] Elements described in detail with reference to one embodiment, embodiment, or module may, whenever practical, be included in other embodiments, embodiments, or modules in which they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and is not described with reference to a second embodiment, the element may nevertheless be claimed as included in the second embodiment. Thus, to avoid unnecessary repetition in the following description, one or more elements shown and described in association with one embodiment, embodiment, or application may be incorporated into other embodiments, embodiments, or aspects unless specifically describedAttorney Docket No. P06998-WO:0141PCotherwise, unless the one or more elements would make an embodiment or embodiment nonfunctional, or unless two or more of the elements provide conflicting functions.

[0025] In some instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[0026] This disclosure describes various elements (such as systems and devices, and portions of systems and devices) with examples in three-dimensional space. In such examples, the term “position” refers to the location of an element or a portion of an element in a three-dimensional space (e.g., three degrees of translational freedom along Cartesian x-, y-, and z-coordinates). Also in such examples, the term “orientation” refers to the rotational placement of an element or a portion of an element (three degrees of rotational freedom - e.g., roll, pitch, and yaw). Other examples may encompass other dimensional spaces, such as two-dimensional spaces. As used herein, the term “pose” refers to the position, the orientation, or the position and the orientation combined, of an element or a portion of an element. As used herein, and for an element or portion of an element, e.g. a device (e.g., a computer-assisted device or a repositionable arm), the term “proximal” for elements in a kinematic chain refers to a direction toward the base of the kinematic chain, and the term “distal” refers to a direction away from the base along the kinematic chain.

[0027] Aspects of this disclosure are described in reference to electronic systems and computer-assisted devices, which may include systems and devices that are teleoperated, remote-controlled, autonomous, semiautonomous, robotic, and / or the like. Further, aspects of this disclosure are described in terms of an embodiment using a medical system, such as the da Vinci® Surgical System commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. Knowledgeable persons will understand, however, that inventive aspects disclosed herein may be embodied and implemented in various ways, including robotic and, if applicable, non-robotic embodiments. Embodiments described for da Vinci® Surgical Systems are merely exemplary, and are not to be considered as limiting the scope of the inventive aspects disclosed herein. For example, techniques described with reference to surgical instruments and surgical methods may be used in other contexts. Thus, the instruments, systems, and methods described herein may be used for humans, animals, portions of human or animal anatomy, industrial systems, general robotic, or teleoperational systems. As further examples, the instruments, systems, and methods described herein may be used for non-medical purposes including industrial uses, general robotic uses, sensing or manipulating non-tissue work pieces, cosmetic improvements, imaging of human or animal anatomy, gathering data fromAttorney Docket No. P06998-WO:0141PChuman or animal anatomy, setting up or taking down systems, training medical or non-medical personnel, and / or the like. Additional example applications include use for procedures on tissue removed from human or animal anatomies (with or without return to a human or animal anatomy) and for procedures on human or animal cadavers. Further, these techniques can also be used for medical treatment or diagnosis procedures that include, or do not include, surgical aspects.System Overview

[0028] FIG. 1 is a simplified diagram of a computer-assisted system 100 according to some embodiments. As shown in FIG. 1, computer-assisted system 100 includes, without limitation, a computer-assisted device 110, an interface 140, a control unit 150, and an operator workstation 190. Computer-assisted device 110 includes, without limitation, one or more repositionable structures 120 and one or more instruments 130. Control unit 150 includes, without limitation, processor 160 and memory 170. Operator workstation 190 includes, without limitation, display system 192, one or more input control devices 195, and arm rest 197.

[0029] As shown in FIG. 1, computer-assisted device 110 includes two movable or repositionable structures 120, which are sometimes referred to as manipulator arms. However, one or more repositionable structures 120 can be included without limitation. In some examples, computer-assisted device 110 can be consistent with a computer-assisted surgical device. Each of the repositionable structures 120 can provide support for one or more instruments 130. In some examples, the instruments 130 can include end effectors that are capable of, but are not limited to, imaging, grasping, retracting, cauterizing, ablating, suturing, cutting, stapling, fusing, sealing, etc., and / or combinations thereof. In some examples, any of the instruments can include an imaging device, such as an endoscopic camera.

[0030] Computer-assisted device 110 is coupled to control unit 150 an interface 140. The interface 140 can include one or more cables, fibers, connectors, and / or buses and can further include one or more networks with one or more network switching and / or routing devices.

[0031] Operation of control unit 150 can be controlled by processor 160. And although control unit 150 is shown with only one processor 160, it is understood that processor 160 can be representative of one or more central processing units, multi-core processors, microprocessors, microcontrollers, digital signal processors (DSPs), graphics processing unitsAttorney Docket No. P06998-WO:0141PC(GPUs), field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), and / or the like in control unit 150. Control unit 150 can be implemented as a standalone subsystem and / or board added to a computing device or as a virtual machine. In some embodiments, control unit 150 can be included as part of the operator workstation and / or operated separately from, but in coordination with the operator workstation.

[0032] Memory 170 can be used to store software executed by control unit 150 and / or can include one or more data structures used during operation of control unit 150. Memory 170 can include one or more types of machine-readable media. Some common forms of machine readable media can include floppy disk, flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, RAM, PROM, EPROM, FLASH-EPROM, any other memory chip or cartridge, and / or any other medium from which a processor or computer is adapted to read.

[0033] As shown in FIG. 1, memory 170 includes control application 180 that can be used to support autonomous, semiautonomous, and / or teleoperated control of computer-assisted device 110. Control application 180 can include one or more application programming interfaces (APIs) for receiving position, motion, force, torque, and / or other sensor information from computer-assisted device 110, repositionable structures 120, and / or instruments 130, exchanging position, motion, force, torque, and / or collision avoidance information with other control units regarding other devices, and / or planning and / or assisting in the planning of motion for computer-assisted device 110, repositionable structures 120, and / or instruments 130. The control application 180 can receive the sensor information from computer-assisted device 110 through interface 140 and control unit 150 and can communicate control signals through interface 140 and control unit 150 to computer-assisted device 110. In some examples, control application 180 can further support autonomous, semiautonomous, and / or teleoperated control of the instruments 130 during a surgical procedure. And although control application 180 is depicted as a software application that can be executed on processor 160, control application 180 can be implemented using standalone hardware separate from the processor 160 or can be implemented as a combination of the standalone hardware and software executed on processor 160.

[0034] Repositionable structure 120 is configured to support one or more of the instruments 130. The instrument 130 can be attached directly to the repositionable structure 120 in some instances or be attached indirectly through one or more intervening adapters inAttorney Docket No. P06998-WO:0141PCother instances. During a procedure performed by the computer-assisted system 100, the instrum ent(s) 130 attached to repositionable structure can be pivoted about a remote center of motion (RCM) associated with repositionable structure 120 by commanding motion of repositionable structure 120 to pivot the distal portion of repositionable structure about the RCM.

[0035] In some example architectures, repositionable structure 120 has a hardwarecentered RCM (HWC) and the repositionable structure 120 is designed such that movement of a first set of drivable joints of the repositionable structure 120 pivots a part of the proximal and / or repositionable structure 120 (often a distal link or a distal portion) about the HWC. The HWC can be moved relative to the base of the repositionable structure 120 by actuating a second set of drivable joints of the repositionable structure 120. In some examples, the drivable joints of the plurality of joints of the repositionable structure 120 provide redundant degrees of freedom, and coordinated motion of the drivable joints can cause the part of the proximal and / or distal repositionable structure to pivot about a software-centered RCM (SWC). The location of the SWC can be moved relative to the base part of the proximal repositionable structure and / or distal repositionable structure(s) and is enabled by coordinated motion of the drivable joints. In some examples, the repositionable structure 120 has a HWC and drivable joints that provide redundant degrees of freedom that enable the repositionable structure 120 to pivot the part of the proximal and / or distal repositionable structure about a point other than the HWC and can switch between pivoting about a HWC or about a SWC. For a repositionable structure 120 that can switch between pivoting about a HWC and a SWC, the effective remote center is whatever point the commanded motions cause the part of the proximal and / or distal repositionable structure to pivot about.

[0036] When the repositionable structure 120 performs a procedure, the RCM can be located at a suitable location, such as at an opening into a workspace (e.g„ a port providingaccess to a chamber or a body, an incision, a natural orifice such as a mouth or throat, and / or the like). This RCM can be a HWC, or be a SWC for systems with HWCs and that can support SWCs, or be a SWC for systems without HWCs. Instruments 130 attached to the repositionable structure 120, for example by being attached to one or more distal repositionable structures of the repositionable structure 120, are pivoted about the RCM and articulated as instruments 130 are used to perform tasks. Instruments 130 can be inserted or retracted relative to the workspace using the distal repositionable structure(s) and without moving the distal portion of the proximal repositionable structure. For example, the distalAttorney Docket No. P06998-WO:0141PCrepositionable structure can have joints that can be driven and / or the instrument(s) 130 can have joints that can be driven, to insert the instrument s) 130 further into the workspace, retract the instrum ent(s) 130 within or from the workspace, or articulate the instrum ent(s) 130 within the workspace. In an example, the joints of the instrument(s) 130 are driven by actuators directly, or by one or more transmission mechanisms of the distal repositionable structure(s) and / or the instrument that transmit force, torque, or motion (e.g„ cables, gears, hypotubes, metal bands, pulleys, capstans, etc.).

[0037] In some embodiments, computer-assisted system 100 can be found in an operating room and / or an interventional suite. And although computer-assisted system 100 includes only one computer-assisted device 110 with two repositionable structures 120 and corresponding instruments 130, one of ordinary skill would understand that computer-assisted system 100 can include any number of computer-assisted devices with repositionable structures and / or instruments of similar and / or different in design from computer-assisted device 110. In some examples, each of the computer-assisted devices can include fewer or more repositionable structures and / or instruments.

[0038] Control unit 150 is coupled to operator workstation 190 via interface 140. Operator workstation 190 can be used by an operator, such as a surgeon, to control the movement and / or operation of the repositionable structures 120 and the instruments 130. To support operation of the repositionable structures 120 and the end effectors, operator workstation 190 includes display system 192 for displaying images of at least portions of one or more of the repositionable structures 120 and / or instruments 130. For example, display system 192 can be used when it is impractical and / or impossible for the operator to see repositionable structures 120 and / or instruments 130 as they are being used. In some embodiments, display system 192 displays a video image from a video capturing device, such as an endoscope, which is controlled by one of repositionable structures 120, or a third repositionable structure (not shown). In at least one embodiment, display system 192 provides real-time information about insertion distance, articulation limits, and / or other information about the one or more instruments 130 to the operator.

[0039] Operator workstation 190 includes a console workspace with one or more input control devices 195 (sometimes referred to as master controls 195) that can be used for operating the computer-assisted device 110, the repositionable structures 120, and / or the instruments 130 supported by the repositionable structures 120. Each of the input control devices 195 can be coupled to the distal end of respective repositionable structures so thatAttorney Docket No. P06998-WO:0141PCmovements of the input control devices 195 are detected by the operator workstation 190 and communicated to control unit 150 and control application 180. To provide improved ergonomics, the console workspace can also include one or more rests, such as arm rest 197 on which operators can rest their arms while manipulating the input control devices 195. In some examples, the display system 192 and the input control devices 195 can be used by the operator to teleoperate the repositionable structures 120 and / or the instruments 130. In some embodiments, operator workstation 190 further includes one or more levers, pedals, switches, keys, knobs, triggers, and / or the like. In some embodiments, computer-assisted device 110, operator workstation 190, and control unit 150 can correspond to a da Vinci® Surgical System commercialized by Intuitive Surgical, Inc. of Sunnyvale, California.

[0040] In some embodiments, other configurations and / or architectures can be used with computer-assisted system 100. In some examples, control unit 150 can be included as part of operator workstation 190 and / or computer-assisted device 110. In some embodiments, computer-assisted system 100 can be found in an operating room and / or an interventional suite. And although computer-assisted system 100 includes only one computer-assisted device 110 with two repositionable structures 120, one of ordinary skill would understand that computer-assisted system 100 can include any number of devices with repositionable structures and / or end effectors of similar and / or different design from computer-assisted device 110. In some examples, each of the devices can include fewer or more repositionable structures 120 and / or end effectors. Additionally, there can be additional operator workstations 190 to control additional arms that can be attached to computer-assisted device 110.Additionally, in some embodiments, operator workstation 190 can have controls for controlling a platform, such as a surgical table (not shown).

[0041] One drawback of conventional methods for controlling instruments with articulated wrists and / or flexible shafts is the ability to control the cone of articulation, especially when there is limited or no visibility of the end effector of the instrument and / or when the cone of articulation of the instrument can be controlled using redundant degrees of freedom (e.g., one or more degrees of freedom in the instrument and one or more degrees of freedom in the repositionable structure proximal to the instrument). Without control of the cone of articulation, teleoperation is more likely to result in angles of articulation of the end effector relative to the insertion axis of the instrument. For example, when the angle of articulation becomes too high, jackknifing of the wrist and / or flexible shaft of the instrument occurs. Jackknifing can result in undesirable configurations of the instrument and is more likely toAttorney Docket No. P06998-WO:0141PCoccur when an operator has limited or no direct visibility of the end effector and / or instrument in images of the workspace. For example, images of the workspace provided by a separate imaging device (e.g„ an endoscope) may not be able to capture images of the end effector and / or instrument due to obstructions by other objects (e.g„ tissue in a medical example) orlimited ability for the end effector and / or instrument to be well-positioned within a field of view of the imaging device. Such obstructions can result in the operator accidentally jackknifing the instrument within the workspace causing soreness or injury to the patient being operated on. Furthermore, injuries that occur during surgery, even accidental injuries caused by jackknifing, can further lead to medical malpractice lawsuits as well.

[0042] FIG. 2 illustrates the control application 180 of FIG. 1 in more detail, according to various embodiments. As shown, control application 180 includes, without limitation, an operator input processing module 202, an articulation limit module 204, and a feedback module 206.

[0043] Operator input processing module 202 is configured to receive operator input(s) 201 from input control devices 195 and / or from one or more levers, pedals, switches, keys, knobs, triggers, and / or the like of operator workstation 190. In various embodiments, operator input processing module 202 processes various movement(s) identified by operator input(s) 201 made by the operator. For example, operator input processing module 202 can interpret operator input(s) 201 indicating that the operator has moved one of input control devices 195 away from the operator as a command to increase an insertion distance of an instrument 130 being controlled using that input control device 195. As another example, operator input processing module 202 can interpret operator input(s) 201 indicating that the operator is bending a distal end of the input control device 195 as a command to change bend or flex of a wrist of the instrument 130 that changes an orientation of an end effector of the instrument 130 relative to a shaft of the instrument 130. As another example, operator input processing module 202 can detect changes in one or more knobs, buttons, levers, and / or pedals and / or one or more voice commands or gestures of the operator. In some embodiments, operator input processing module 202 continuously monitors the operator input(s) 201, detecting any input that indicates changes in one or more knobs, buttons, levers, and / or pedals and / or one or more voice commands or gestures of the operator. In some embodiments, operators can use grip closure on an input control included in input control devices 195, such as an instrument handle, a remote control interface, and / or the like, as an input to adjust a grip closure of the end effector. In some embodiments, operator input processing module 202 detects a commandAttorney Docket No. P06998-WO:0141PCto insert / retract the instrument 130 to / from the workspace or into / out of a lumen of a cannula and guide tube. Operator input processing module 202 correlates the detected changes in the one or more knobs, buttons, levers, and / or pedals and / or one or more voice commands or gestures of the operator to changes in insertion distance, force, position, orientation, torque, force, and / or the like of the instrument 130 or the repositionable structure 120 supporting the instrument, to generate commanded value(s) 203. For example, the generated commanded value(s) 203 can indicate, without limitation, an increase or decrease in insertion distance of the instrument 130 or the repositionable structure 120 supporting the instrument. In another example, the generated commanded value(s) 203 can indicate, without limitation, an increase or decrease in the articulation angle of the wrist and / or flexible shaft of the instrument 130. Commanded value(s) 203 can be sent to articulation limit module 204 to determine adjustment(s) to an articulation limit 205 based on the increase or decrease in insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument indicated by commanded values 203. In various embodiments, operator input processing module 202, or any other aspect of control application 180, records patterns of operator input(s) 201 for training machine learning models used in articulation limit module 204, which can be used as predictive models where the articulation limit module 204 learns to generate articulation limit 205 based on past operator input(s) 201 and past commanded value(s) 203, further refining articulation limit 205 during various stages of a task. Commanded value(s) 203 can be sent to feedback module 206 to determine if the increase or decrease in the articulation angle of the wrist and / or flexible shaft of the instrument 130 indicated by the commanded value(s) reaches or exceeds the articulation limit 205.

[0044] Articulation limit module 204 is configured to receive commanded value(s) 203, which indicate, without limitation, an increase or decrease in insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument. In various embodiments, articulation limit module 204 uses sensor data and one or more kinematic models associated with the repositionable structure 120 and / or the instrument 130 to determine the current or actual insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument relative to the insertion point. For example, articulation limit module 204 can use joint sensors, actuator sensors, and / or the like of the repositionable structure 120 and / or the instrument 130 to determine the current or actual insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument relative to the insertion point. In various embodiments, articulation limit module 204 uses data from a tracking unit and / or the like to determine the current or actual insertion distance of theAttorney Docket No. P06998-WO:0141PCinstrument 130 or repositionable structure 120 supporting the instrument relative to the insertion point

[0045] Articulation limit module 204 is configured to determine if articulation limit 205 needs to be adjusted accordingly based on the insertion distance determined above Articulation limit 205 indicates an amount that the wrist and / or flexible shaft of the instrument 130 or the repositionable structure 120 supporting the instrument can move relative to the insertion axis in at least one degree of freedom, thereby forming a cone of articulation. In some embodiments, additional articulation limits can be determined for each degree of freedom of the wrist of the instrument. The cone of articulation limits the operational workspace of instrument 130 and / or repositionable structure 120 of the instrument by forming an invisible boundary in the shape of a three-dimensional cone where the tip of the cone starts at a proximal end of the wrist and / or flexible shaft and opens into the workspace. In some embodiments, the angle / width of the cone of articulation increases as the insertion distance of the instrument 130 and / or the repositionable structure 120 of the instrument increases. As the angle of the cone of articulation increases, the invisible boundary forming the operational workspace widens relative to the insertion axis of the instrument 130. In various embodiments, articulation limit module 204 uses various algorithms including but not limited to artificial intelligence to learn from past operation of control application 180 in order to determine adjustments to the articulation limit 205. For example, articulation limit module 204 can recognize patterns or sequences of past operator input(s) 201 that historically determined articulation limit 205 based on commanded value(s) 203 being applied to the current or actual insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument, such as an increase in insertion distance relative to the insertion point. In at least one embodiment, articulation limit module 204 includes decision trees which determine and either suggest an articulation limit 205 to the operator or automatically adjusts the articulation limit 205 based on the commanded value(s) 203. Articulation limit module 204 is configured to send articulation limit 205 to feedback module 206. In some embodiments, control application 180 uses articulation limit 205 to prevent the wrist or flexible shaft of instrument 130 from being articulated beyond articulation limit 205.

[0046] Feedback module 206 is configured to receive commanded value(s) 203 and articulation limit 205 from articulation limit module 204. Feedback module 206 is configured to determine if one more of the actual or commanded articulation angles (e.g., a pitch and / or yaw) of the wrist and / or flexible shaft of the instrument 130 has reached or exceededAttorney Docket No. P06998-WO:0141PCarticulation limit 205 commanded value(s) 203. Haptic / visual feedback module 206 compares the articulation angle(s) of the wrist and / or flexible shaft of instrument 130 and / or repositionable structure 120 supporting the instrument to articulation limit 205 based on commanded value(s) 203. In various embodiments, feedback module 206 uses sensor data and one or more kinematic models associated with the repositionable structure 120 and / or the instrument 130 to determine the actual articulation angle(s) of the wrist and / or flexible shaft. For example, feedback module 206 can use joint sensors, actuator sensors, and / or the like of the repositionable structure 120 and / or the instrument 130 to determine the actual articulation angle(s) of the wrist and / or flexible shaft. In various embodiments, feedback module 206 uses data from a tracking unit and / or the like to determine the actual articulation angle(s) of the wrist and / or flexible shaft. In various embodiments, feedback module 206 uses image processing techniques, such as computer vision algorithms and / or the like, which can include edge / boundary detection, pattern recognition, machine learning techniques, and / or the like, to analyze visual cues, including but not limited to depth, texture, color, and / or motion, to determine the actual articulation angle(s) of the wrist and / or flexible shaft commanded value(s) 203

[0047] Feedback module 206 provides the operator with feedback 207 that either replicates the physical sensations that would be felt if the instruments were being manipulated directly by hand against a physical barrier or displays warnings on display system 192 that the wrist and / or flexible shaft of the instrument 130 has reached or exceeded articulation limit 205. Feedback module 206 is particularly useful in tasks where direct sensory feedback is lacking due to the intermediary nature of repositionable structures or teleoperated devices. Feedback module 206 interprets the differences between the actual or commanded articulation angle(s) and the articulation limit 205 for those articulation angle(s) and converts the discrepancies into haptic signals, such as vibrations, resistance, and / or the like, that can be felt by the operator through the input control devices 195 that resist the operator’s attempts to articulate the wrist or flexible shaft past the articulation limit 205. In various embodiments, when articulation limit 205 would be reached or exceeded based on operator input(s) 201, feedback module 206 engages in a deliberate manner to alert the operator via feedback 207 to prevent operator input(s) 201 from being processed. For example, feedback 207 can be generated as an alert, such as a “haptic buzz” or “spike” as a distinct tactile cue that the articulation limit 205 would be reached or exceeded if the operator continues to input the similar commands. Additionally and / or alternatively, feedback module 206 can provide visual cues to be displayed on display system 192 including, without limitation, the currentAttorney Docket No. P06998-WO:0141PCarticulation limits 205, the actual and / or commanded articulation angles, and / or the like. For example, the visual cues can include displaying a virtual boundary depicting the articulation limit 205 and / or the cone of articulation. Additionally and / or alternatively, feedback module 206 can provide audio feedback, such as a beep, verbal warning, and / or the like.

[0048] In at least one embodiment, feedback module 206 ensures that the position and orientation of the instrument 130, and / or the repositionable structure 120 supporting the instrument do not exceed articulation limit 205, which is particularly important when working with delicate material in small operational workspaces. For example, during the dissection of tissue planes, feedback module 206 monitors the position and orientation of instrument 130 to prevent the operator from jackknifing instrument 130. Predictive functionality is particularly useful, for example, in computer-assisted trans-anal surgeries, where the operational workspace is smaller and more difficult for the operator to visualize.

[0049] FIG. 3 illustrates an example of a wristed instrument, according to various embodiments. In some embodiments, instrument 300 can be consistent with any of the instruments 130 of FIG. 1. The directions “proximal” and “distal” as depicted in FIG. 3 and as used herein help describe the relative orientation and position of components of instrument 300. Distal generally refers to elements in a direction further along a kinematic chain from a base of a computer-assisted device, such as computer-assisted device 110, and / or closest to the worksite in the intended operational use of the instrument 300. Proximal generally refers to elements in a direction closer along a kinematic chain toward the base of the computer-assisted device and / or one of the repositionable structures of the computer-assisted device.

[0050] As shown in FIG. 3, instrument 300 includes, without limitation, a long shaft 310 used to couple an end effector 320, located at a distal end of shaft 310, to where the instrument 300 is mounted to a repositionable structure 120 and / or a computer-assisted device at a proximal end of shaft 310. Depending upon the particular procedure for which the instrument 300 is being used, shaft 310 can be inserted through an opening (e.g., an access port, a body wall incision, a natural orifice, a cannula, a guide tube, and / or the like) in order to place end effector 320 in proximity to a worksite of interest located within a work area and / or an object of interest. As further shown in FIG. 3, end effector 320 is generally consistent with a two-jawed gripper-style end effector, which in some embodiments can further include a cutting mechanism, a fusing or sealing mechanism, and / or the like. However, one of ordinary skill would understand that different instruments 300 with different end effectors 320 are possible and can be consistent with the embodiments of instrument 300 as described elsewhere herein.Attorney Docket No. P06998-WO:0141PC

[0051] An instrument, such as instrument 300 with end effector 320 typically relies on multiple degrees of freedom (DOFs) during its operation. Depending upon the configuration of instrument 300 and the repositionable structure 120 and / or computer-assisted device to which instrument 300 is mounted, various DOFs that can be used to position, orient, and / or operate end effector 320 are possible. In some examples, shaft 310 can be inserted in a distal direction and / or retreated in a proximal direction to provide an insertion DOF that can be used to control how deep within a worksite that end effector 320 is placed. In some examples, shaft 310 can be able to rotate about its longitudinal axis to provide a roll DOF that can be used to rotate end effector 320. In some examples, additional flexibility in the position and / or orientation of end effector 320 can be provided by an articulated wrist 330 that is used to couple the end effector 320 to the distal end of shaft 310. In some examples, articulated wrist 330 can include one or more rotational joints, such as one or more roll, pitch or yaw joints that can provide one or more “roll,” “pitch,” and “yaw” DOF(s), respectively, that can be used to control an orientation of end effector 320 relative to the longitudinal axis of shaft 310. In some examples, the one or more rotational joints can include a pitch and a yaw joint; a roll, a pitch, and a yaw joint, a roll, a pitch, and a roll joint; and / or the like. In some embodiments, articulated wrist 330 can include one or more sensors that are configured to determine the actual articulation angle(s) of articulated wrist 330. In some embodiments, the actual articulation angle(s) of articulated wrist 330 can be determined based on the position and / or rotation of one or more actuators used to actuate articulated wrist 330. In some examples, end effector 320 can further include a grasp DOF used to control the opening, closing, and the torque applied by the jaws of end effector 320.

[0052] Instrument 300 further includes a drive system 340 located at the proximal end of shaft 310. Drive system 340 includes one or more components for introducing forces and / or torques to instrument 300 that can be used to manipulate the various DOFs supported by instrument 300. In some examples, drive system 340 can include one or more motors, solenoids, servos, active actuators, hydraulic actuators, pneumatic actuators, and / or the like that are operated based on signals received from a control unit, such as control unit 150 of FIG. 1. In some examples, the signals can include one or more currents, voltages, pulse-width modulated wave forms, and / or the like. In some examples, drive system 340 can include one or more shafts, gears, pulleys, rods, bands, and / or the like which can be coupled to corresponding motors, solenoids, servos, active actuators, hydraulics, pneumatics, and / or the like that are part of a repositionable structure, such as any of the repositionable structures 120, to which instrument 300 is mounted. In some examples, the one or more drive inputs, such asAttorney Docket No. P06998-WO:0141PCshafts, gears, pulleys, rods, bands, and / or the like, can be used to receive forces and / or torques from the motors, solenoids, servos, active actuators, hydraulics, pneumatics, and / or the like and apply those forces and / or torques to adjust the various DOFs of instrument 300.

[0053] In some embodiments, the forces and / or torques generated by and / or received by drive system 340 can be transferred from drive system 340 and along shaft 310 to the various joints and / or elements of instrument 300 located distal to drive system 340 using one or more drive mechanisms 350. In some examples, the one or more drive mechanisms 350 can include one or more gears, levers, pulleys, cables, rods, bands, and / or the like. In some examples, shaft 310 is hollow and the drive mechanisms 350 pass along the inside of shaft 310 from drive system 340 to the corresponding DOF in end effector 320 and / or articulated wrist 330. In some examples, each of the drive mechanisms 350 can be a cable disposed inside a hollow sheath or lumen in a Bowden cable like configuration. In some examples, the cable and / or the inside of the lumen can be coated with a low-friction coating such as polytetrafluoroethylene (PTFE) and / or the like. In some examples, as the proximal end of each of the cables is pulled and / or pushed inside drive system 340, such as by wrapping and / or unwrapping the cable about a capstan or shaft, the distal end of the cable moves accordingly and applies a suitable force and / or torque to adjust one of the DOFs of end effector 320, articulated wrist 330, and / or instrument 300.

[0054] FIG. 4 illustrates an example of a circular stapler, according to various embodiments. In some embodiments, circular stapler 400 can be consistent with any of the instruments 130 of FIG. 1. The directions “proximal” and “distal” as depicted in FIG. 4 and as used herein help describe the relative orientation and position of components of circular stapler 400. Distal generally refers to elements in a direction further along a kinematic chain from a base of a computer-assisted device, such as computer-assisted device 110, and / or closest to the worksite in the intended operational use of the circular stapler 400. Proximal generally refers to elements in a direction closer along a kinematic chain toward the base of the computer-assisted device and / or one of the repositionable structures of the computer-assisted device.

[0055] As shown, circular stapler 400 includes, without limitation, , a shaft 420, a drive system 430, an end effector 440, and an anvil 450. End effector 440 includes, without limitation, a stapling assembly 442 and a mating spike 444. Anvil 450 includes, without limitation, a head 452 and a mating spike 454. End effector 440 at the distal end of circular stapler 400 is coupled through shaft 420 to drive system 430 at the proximal end of circularAttorney Docket No. P06998-WO:0141PCstapler 400. The drive system 430 includes one or more inputs (not shown) that are used to extend and retract mating spike 444 and fire staples using stapling assembly 442. Anvil 440 is shown detached from circular stapler 400. During the operation of circular stapler 400, mating spike 444 is extended distally from stapling assembly 442. When extended, mating spike 444 can penetrate through material (e.g., tissue in a medical example) between end effector 440 and anvil 450. Anvil 450 and / or circular stapler 400 are then manipulated to align mating spike 454 with mating spike 444. For example, anvil can be grasped by a secondary instrument (not shown) to position and orient anvil 450 and / or circular stapler 400 can be positioned and oriented by a repositionable structure to which circular stapler 400 is mounted. Once mating spike 454 is aligned with mating spike 444, anvil 450 and end effector 440 are moved toward each other until mating spike 454 and mating spite 444 are locked together. Mating spike 444 is then retracted into stapling assembly 442 to bring head 452 into proximity with stapling assembly 442. Stapling assembly 442 can then be fired to push staples into contact with head 452 in order to staple the material between head 452 and stapling assembly 442. In some embodiments, the one or more inputs of drive system 430 are also used to actuate a knife of end effector 440 to excise portions of the material. After stapling, circular stapler 400 is removed from the worksite. In some examples, additional flexibility in the position and / or orientation of end effector 440 can be provided by an articulated wrist (not shown) or a flexible portion of shaft 420 that is used to couple the end effector 440 to the distal end of shaft 420. In some examples, the articulated wrist / flexible shaft can include one or more rotational joints, such as one or more roll, pitch or yaw joints that can provide one or more “roll,” “pitch,” and “yaw” DOF(s), respectively, that can be used to control an orientation of end effector 440 relative to the longitudinal axis of shaft 420. In some examples, the one or more rotational joints can include a pitch and a yaw joint; a roll, a pitch, and a yaw joint, a roll, a pitch, and a roll joint; and / or the like. In some embodiments, the articulated wrist / flexible shaft can include one or more sensors that are configured to determine the actual articulation angle(s) of the articulated wrist / flexible shaft. In some embodiments, the actual articulation angle(s) of the articulated wrist / flexible shaft can be determined based on the position and / or rotation of one or more actuators within the articulated wrist / flexible shaft.

[0056] During medical procedures, circular stapler 400 is often introduced into the body of the patient through a lumen of an organ in order to reach the staple deployment site. During this insertion, control of the force and / or torque limits used to position and / or orient circular stapler 400, such as end effector 440 and / or the articulated wrist / flexible shaft, using the repositionable structure to which circular stapler 400 is mounted and / or other degrees ofAttorney Docket No. P06998-WO:0141PCfreedom of circular stapler 400 can be controlled to allow higher compliance with circular stapler 400. This reduces the stress and strain applied by circular stapler 400 to surrounding materials and / or tissue and increases operator confidence in the insertion Workspace during stapling can be limited, for example the workspace in a procedure to staple a ruptured rectum is relatively narrow. Due to the narrow workspace and / or placement of end effector 440 within the lumen or organ, operators can have low or no ability to see various aspects of circular stapler 400, such as end effector 440 and the articulated wrist / flexible shaft, which can more commonly lead to jackknifing of circular stapler 400, and / or the articulated wrist / flexible shaft or other bad behaviors. In many cases, the ability to see the various aspects of the circular stapler 400 is more pronounced when during the early stages of insertion. Therefore, controlling articulation limit 205 of the articulated wrist / flexible shaft of circular stapler 400 both improves the precision of the spike placement and also helps prevent jackknifing. The accurate placement of staples ensures that the worksite, such as a surgical site, is closed securely and heals properly without complications, such as leaks, tissue damage, and / or the like. Furthermore, after the staples have been deployed, trocar 410 and anvil 440 are withdrawn from the worksite. By automatically narrowing the cone of articulation as trocar 410 and circular stapler 400 are withdrawn toward the insertion point (e.g., the insertion distance gets shorter), articulation limit 205 also facilitate the straightening of circular stapler 400 for withdrawal and reduces disturbance to the newly placed staples and reduces stress and strain to the surrounding material, thereby enhancing patient safety and improving surgical outcomes.

[0057] Figure 5A illustrates an example of an instrument inserted at a first insertion distance within a workspace, according to various embodiments. In the example of Figure 5 A, a configuration 500A of the computer-assisted system 100 is shown where articulated wrist 330 is at an insertion distance 510A from the distal end of entry guide 518. As shown, insertion distance 510A is measured from the distal end of entry guide 518 to the articulated wrist 330 of instrument 300. In some embodiments, insertion distance 510A can be measured from RCM 502 of the computer-assisted system 100 to the articulated wrist 330 of instrument 300. While posed in configuration 500A, a repositionable structure, such as one of the repositionable structures 120 of the computer-assisted system 100 is supporting instrument 300 is positioned such that RCM 502 of the computer-assisted system 100 is located near an opening 504 into a workspace. In some examples, the RCM 502 corresponds to a specific portion of an entry guide 518 (e.g., a cannula, tube, or other similar fixture) when the entryAttorney Docket No. P06998-WO:0141PCguide 518 is attached to the repositionable structure as indicated by the stripe on the entry guide 518.

[0058] As further shown in Figure 5 A, while computer-assisted system 100 is posed in configuration 500A, articulated wrist 330 of instrument 300 is positioned at an insertion distance 510A past a distal end of entry guide 518. Based on insertion distance 510A, a cone of articulation 516A for instrument 300 is defined to limit an amount to which articulated wrist 330 can be articulated (e.g., in the yaw and / or pitch directions) relative to the insertion axis 514 of entry guide 518 and shaft 310. Insertion axis 514 corresponds to a direction in which the instrument is introduced into the workspace. For example, insertion axis 514 can correspond to a longitudinal direction of shaft 310 of the instrument 300 proximal to articulated wrist 330. For illustrative purposes only, cone of articulation 516A is shown in two-dimensions, but one skilled in the art would understand that cone of articulation 516A is three-dimensional. In some embodiments, circular stapler 400 or other instruments can be used in place of instrument 300.

[0059] Figure 5B illustrates an example of an instrument inserted at second insertion distance within a workspace, according to various embodiments. In particular, Figure 5B illustrates a configuration 500B of the computer-assisted system 100 that results from moving the distal portion of the proximal repositionable structure from its pose in the configuration 500A to a pose that adjusts the reachable space of the instrument 300. When compared to the configuration 500A, instrument 300 of computer-assisted system 100 posed in the configuration 500B has been inserted deeper into the workspace. Importantly, however, RCM remains at the first location proximate to opening 504 despite instrument 300 being inserted deeper into the workspace when computer-assisted system 100 is posed in the configuration 500B. Additionally, as shown, insertion distance 510B is still measured from the distal end of entry guide 518 to the articulated wrist 330 of instrument 300. In some embodiments, insertion distance 510B can be measured from RCM 502 of the computer-assisted system 100 to the articulated wrist 330 of instrument 300.

[0060] As further shown in Figure 5B, when the computer-assisted system 100 is posed in the configuration 500B, a cone of articulation 516B of instrument 300 has been increased relative to the insertion distance 510B of instrument 300 when the computer-assisted system was posed in the configuration 500A. Stated another way, when compared to cone of articulation 516A of instrument 300, cone of articulation 516B of instrument 300 has increased based on instrument 300 moving along insertion axis 514. Furthermore, inAttorney Docket No. P06998-WO:0141PCconfiguration 500B, articulated wrist 330 of instrument 300 has changed direction to move end effector 320 of instrument 300 toward a target. Similar to cone of articulation 516A in configuration 500A, cone of articulation 516B for instrument 300 is defined to limit an amount to which articulated wrist 330 can be articulated (e.g., in the yaw and / or pitch directions) relative to the insertion axis 514 or axis of entry guide 518 and shaft 310. However, because insertion distance 510B is longer than insertion distance 510A, cone of articulation 516B is wider than cone of articulation 516A. For illustrative purposes only, cone of articulation 516B is shown in two-dimensions, but one skilled in the art would understand that cone of articulation 516B is three-dimensional. In some embodiments, circular stapler 400 or other instruments can be used in place of instrument 300.

[0061] Figure 6 illustrates a graph mapping effective insertion distance of an instrument to allowable articulation angle of a wrist and / or flexible shaft of the instrument, according to various embodiments. As shown in Figure 6, graph 600 includes, without limitation, an x-axis labeled Effective Insertion Distance, a y-axis labeled Allowable Articulation Angle, a minimum cone zone 602, a transition zone 604, a maximum cone zone 606, and a cone shaper function 609.

[0062] Graph 600 represents one relationship between the effective insertion distance and the allowable articulation angle that can be used to control a cone of articulation function for an instrument, such as instrument 300, 400, and / or the like. The effective insertion distance can, for example, b measured from the distal end of an entry guide or canula to the wrist of instrument. In some embodiments, the effective insertion distance can be measured from RCM of the computer-assisted system to the wrist of instrument. For example, graph 600 can be used to determine an allowable articulation angle, such as cone of articulation 516A or 516B from Figure 5A and 5B respectively, for an articulation angle (e.g., pitch or yaw) of the wrist of the instrument for a given effective insertion distance, such as the insertion distance 510A or 510B from Figure 5A and 5B, respectively. In some embodiments, additional articulation limits can be determined similarly for each degree of freedom of the wrist of the instrument.

[0063] Minimum cone zone 602, which can also be referred to as the start-up region, represents the minimum or smallest articulation limit or cone of articulation for the wrist and / or flexible shaft of an instrument once the instrument is introduced within a workspace. Minimum cone zone 602 begins with an effective insertion distance of zero and extends to a first threshold insertion distance 610. Minimum cone zone 602 can be predetermined based on a distance from the wrist of the instrument to the entry point of the workspace. For example,Attorney Docket No. P06998-WO:0141PCthe pitch and / or yaw allowed for the articulated wrist of the instrument can start at 5 degrees until the instrument has been inserted far enough into the workspace (e.g., up to 5 centimeters) as indicated by minimum cone zone 602.

[0064] Maximum cone zone 606, which can also be referred to as the saturation region, represents the maximum or largest articulation limit or cone of articulation for an instrument within a workspace. Maximum cone zone 606 extends from a second threshold insertion distance 612 and can be predetermined based on a maximum pitch and / or yaw for a given workspace. For example, a narrow workspace may not allow the articulated wrist of an instrument to pitch and / or yaw over 60 degrees, regardless of the insertion distance of the instrument. Once an instrument has been inserted a distance of at least the second threshold insertion distance 612, the articulation limit or cone of articulation for an instrument is set to the predetermined maximum pitch and / or yaw for a given workspace and remains unchanged despite further increases to the insertion distance.

[0065] Transition zone 604 represents the allowable articulation angle for the articulated wrist of an instrument after the instrument has been inserted past the first threshold insertion distance 610 associated with minimum cone zone 602 up to the second threshold insertion distance 612 associated with maximum cone zone 606. The allowable articulation angle in transition zone 604 is calculated by articulation limit module 204 of control application 180, as shown in Figure 2. Articulation limit module 204 determines a given articulation angle based on effective insertion distance according to cone shaper function 608. Cone shaper function 608 can be based on any technically feasible algorithm(s) that can calculate an allowable articulation angle for a given effective insertion distance. For example, in some embodiments, articulation limit module 204 can record patterns of allowable articulation angles and effective insertion distances for training one or more machine learning models, which can be used as predictive models where the articulation limit module 204 learns to generate the allowable articulation angle for a given effective insertion distance. In some embodiments, cone shaper function 608 can include any shape other than piecewise linear as shown in Figure 6. For example, cone shaper function 608 could include more than three zones, more than three linear segments, one or more curved segments (e.g., curves such as polynomial and / or s-curves to smooth the transition between zones), and / or the like or any combination thereof. In some embodiments, cone shaper function 608 can be determined for different degrees of freedom associated with the instrument, such as a separate cone shaper function for the pitch and yaw of the wrist of the instrument. In some embodiments, various parameters of cone shaperAttorney Docket No. P06998-WO:0141PCfunction 608 can be adjusted based one or more factors such as the type of the instrument (e.g., circular stapler, tissue / uterine manipulator, needle driver), physical articulation limits of the instrument, a type or stage of a procedure being performed, a type of cannula used to introduce the instrument into the workspace, operator preference, a machine learning algorithm that adapts the articulation limit for the first degree of freedom, a distal portion of the instrument obscured by intervening objects (e.g., other instruments, tissue, etc.), and / or other similar factors.

[0066] Figure 7 is a flow diagram of method steps for controlling the cone of articulation of an instrument, according to various embodiments. Although the method steps are described in conjunction with the systems of Figures 1-4 and 6 and the examples of Figures 5A-5B, persons of ordinary skill will understand that any system configured to perform the method steps, in any order, is within the scope of the present disclosure. One or more of steps 710-760 of method 700 can be implemented, at least in part, in the form of executable code stored on non-transient, tangible, machine-readable media. This executable code, when executed by a processor system (e.g., processor system 160 in control unit 150), can cause the processor system to perform one or more of steps 710-760. In some embodiments, method 700 can be performed by one or more modules of an application, such as control application 180. In some embodiments, method 700 can be applied to one or more instruments 130 and / or repositionable structures 120 supporting the instruments included in the computer-assisted system 100. Aspects of method 700 are described with reference to Figures 5A-5B as described in further detail below. However, it is understood that the examples of Figures 5 A and 5B are not restrictive, and that other values, shapes, behaviors, and / or the like depicted in Figures 5 A and 5B may be different for different input control devices 195, different repositionable structures, different instruments, different DOFs, different procedures, different viewable objects, and / or the like.

[0067] At step 710, operator input processing module 202 receives operator input(s) from input control devices 195 and / or from one or more levers, pedals, switches, keys, knobs, triggers, and / or the like of operator workstation 190 of a computer-assisted system 100. In various embodiments, operator input processing module 202 processes various movement(s) identified by operator input(s) 201 made by the operator. For example, operator input processing module 202 can interpret operator input(s) 201 indicating that the operator has moved one of input control devices 195 away from the operator as a command to increase an insertion distance of an instrument 130 being controlled using that input control device 195.Attorney Docket No. P06998-WO:0141PCAs another example, operator input processing module 202 can interpret operator input(s) 201 indicating that the operator is bending a distal end of the input control device 195 as a command to change bend or flex of a wrist of the instrument 130 that changes an orientation of an end effector of the instrument 130 relative to a shaft of the instrument 130. As another example, operator input processing module 202 can detect changes in one or more knobs, buttons, levers, and / or pedals and / or one or more voice commands or gestures of the operator. In some embodiments, operator input processing module 202 continuously monitors the operator input(s) 201, detecting any input that indicates one or more changes in one or more knobs, buttons, levers, and / or pedals and / or one or more voice commands or gestures of the operator. In some embodiments, operator input processing module 202 detects a command to insert / retract the instrument 130 to / from the workspace or into / out of a lumen of a cannula and guide tube. Operator input processing module 202 correlates the detected changes in the one or more knobs, buttons, levers, and / or pedals and / or one or more voice commands or gestures of the operator to changes in insertion distance, force, position, orientation, torque, force, and / or the like of the instrument 130 or the repositionable structure 120 supporting the instrument, to generate commanded value(s) 203. For example, the generated commanded value(s) 203 can indicate, without limitation, an increase or decrease in insertion distance of the instrument 130 or the repositionable structure 120 supporting the instrument. In another example, the generated commanded value(s) 203 can indicate, without limitation, an increase or decrease in the articulation angle of the wrist and / or flexible shaft of the instrument 130.

[0068] At step 720, articulation limit module 204 receives commanded value(s) 203, which indicate, without limitation, an increase or decrease in insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument. For example, Figure 5B shows instrument 300 after being commanded to insert farther into the workspace.Articulation limit module 204 can calculate an adjusted insertion distance based on by the commanded value(s) 203 being applied to the current or actual insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument relative to the insertion point. In various embodiments, articulation limit module 204 uses sensor data and one or more kinematic models associated with the repositionable structure 120 and / or the instrument 130 to determine the current or actual insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument relative to the insertion point. For example, articulation limit module 204 can use joint sensors, actuator sensors, and / or the like of the repositionable structure 120 and / or the instrument 130 to determine the current or actual insertion distance of the instrument 130 or repositionable structure 120 supporting theAttorney Docket No. P06998-WO:0141PCinstrument relative to the insertion point. In various embodiments, articulation limit module 204 uses data from a tracking unit and / or the like to determine the current or actual insertion distance of the instrument 130 or repositionable structure 120 supporting the instrument relative to the insertion point.

[0069] At step 730, articulation limit module 204 determines if articulation limit 205 needs to be adjusted accordingly based on the adjusted insertion distance determined during step 720. In some embodiments, additional articulation limits can be determined for each degree of freedom of the wrist of the instrument. In some embodiments, the articulation limit increases as the insertion distance of the instrument 130 and / or the repositionable structure 120 of the instrument increases. As the articulation limit increases, the invisible boundary forming the operational workspace widens relative to the insertion axis of the instrument 130. For example, Figure 5B shows an increased articulation limit as cone of articulation 516B compared to the articulation limited indicated by cone of articulation 516A in Figure 5 A because the insertion distance of instrument 300 in Figure 5B increased.

[0070] Articulation limit module 204 can use various algorithms to determine the articulation limit 205 from the insertion distance (e.g., 510A, 510B). Articulation limit module 204 can use the insertion distance as an input to a function or lookup table that computes the articulation limit 205 based on the insertion distance. For example, articulation limit module 204 can use cone shaper function 608 to map the insertion distance to the articulation limit 205.

[0071] At step 740, control application 180 determines whether the articulation of the instrument has reached the articulation limit. For example, control application 180 can compare the commanded value(s) 203 for the articulation or an actual articulation of the instrument to the articulation limit 205. Control application 180 can use one or more of joint / actuator sensor values and / or a tracking unit to determine the actual articulation of the instrument. When the commanded value(s) 203 for the articulation or the actual articulation of the instrument has not reached or exceeded articulation limit 205, the articulation of the instrument is adjusted at step 750. When the commanded value(s) 203 for the articulation or the actual articulation of the instrument have reached or exceeded articulation limit 205, visual or haptic feedback is provided at step 750. Articulation limit module 204 can apply step 740 separately for different degrees of freedom of the articulation. For example, articulation limit 205 of a first degree of freedom (e.g., pitch or yaw) might be reached and visual or haptic feedback is applied for the first degree of freedom using step 760, but articulation limit 205 ofAttorney Docket No. P06998-WO:0141PCa second degree of freedom (e.g„ yaw or pitch) might not be reached and the second degree of freedom is adjusted using step 750.

[0072] At step 750, control application 180 adjusts the articulation of the instrument. Control application 180 generates one or more signals used to command the actuators controlling the articulated wrist or flexible shaft of the instrument to drive the articulated wrist or flexible shaft to the articulation indicated by the commanded value(s) 203. Once the articulation of the instrument is adjusted, method 700 returns to step 710.

[0073] At step 760, feedback module 206 applies feedback 207. Feedback 207 provides feedback to the operator that the operator is attempting to exceed articulation limit 205 for at least one articulation degree of freedom. For example, feedback 207 can replicate the physical sensations that would be felt if the instruments were being manipulated directly by hand against a physical barrier corresponding to articulation limit 205 or displays warnings on display system 192 that the articulated wrist and / or flexible shaft of the instrument 130 has reached or exceeded articulation limit 205. In some embodiments, feedback module 206 interprets the differences between the actual and commanded positions or orientations of the instrument 130 and / or the repositionable structure 120 supporting the instrument and converts the discrepancies into haptic signals, such as vibrations, resistance, and / or the like, that can be felt by the operator through the input control devices 195. Additionally and / or alternatively, feedback module 206 can provide visual cues to be displayed on display system 192 including, without limitation, articulation limits 205, the actual and / or commanded articulation angles, and / or the like. For example, the visual cues can include displaying a virtual boundary depicting articulation limit 205 and / or the cone of articulation. Feedback module 206 can further provide audio feedback, such as a beep, a verbal warning, and / or the like.

[0074] In some embodiments, feedback module 206 ensures that the position and orientation of the instrument 130, and / or the repositionable structure 120 supporting the instrument do not exceed articulation limit 205. For example, the haptic feedback can prevent or resist attempts by the operator to manipulate an input control device 195 in a way that would command the articulated wrist or flexible shaft of the instrument 130 to be articulated past articulation limit 205. After feedback 207 is applied, method 700 returns to step 710.

[0075] In sum, techniques are disclosed for controlling the cone of articulation in wristed instruments. Initially, a control mechanism receives input from an operator through a user interface, which dictates a desired position and / or orientation of a wristed instrument or aAttorney Docket No. P06998-WO:0141PCrepositionable structure supporting the instrument within an operational workspace. Using operator input, the control system adjusts the insertion distance of the instrument or the repositionable structure within the operational workspace. Based on the insertion distance, the control system automatically adjusts an articulation limit for at least one degree of freedom of the wrist or flexible shaft of the instrument, forming a cone of articulation. For example, as the insertion distance of the instrument increases, the articulation limit, and thereby the cone of articulation, can increase as well. A feedback loop then monitors the instrument's interaction with the operational workspace using various sensors. Depending on the feedback from various sensors, the control system can notify the operator that the instrument or repositionable structure is approaching the articulation limit or, in some embodiments, stop the instrument or repositionable structure from driving in the direction of the articulation limit. If the articulation limit is not met based on the input received, the input is used to the instrument as normal.

[0076] At least one technical advantage of the disclosed techniques relative to the prior art is that the disclosed techniques allow for controlling the cone of articulation of a wristed instrument or the repositionable structure supporting the wristed instrument, which mitigates potential complications, such as the instrument becoming lodged in the workspace. Another advantage of the disclosed techniques is that the disclosed techniques reduce the limitations imposed by a reliance on what the operator can see, which is particularly beneficial in scenarios where visibility is obstructed, or visual cues are insufficient to gauge the cone of articulation of the wristed instrument. These technical advantages provide one or more technological improvements over prior art approaches.

[0077] Any and all combinations of any of the claim elements recited in any of the claims and / or any elements described in this application, in any fashion, fall within the contemplated scope of the present disclosure and protection.

[0078] The descriptions of the various embodiments have been presented for purposes of illustration but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

[0079] Aspects of the present embodiments may be embodied as a system, method or computer program product. Accordingly, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware,Attorney Docket No. P06998-WO:0141PCresident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “module” or “system.” Furthermore, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

[0080] Any combination of one or more computer readable medium(s) may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0081] Aspects of the present disclosure are described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine. The instructions, when executed via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / acts specified in the flowchart and / or block diagram block or blocks. Such processors may be, without limitation, general purpose processors, special-purpose processors, applicationspecific processors, or field-programmable gate arrays.

[0082] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computerAttorney Docket No. P06998-WO:0141PCprogram products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0083] While the preceding is directed to embodiments of the present disclosure, other and further embodiments of the disclosure may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims

Attorney Docket No. P06998-WO:0141PCWHAT IS CLAIMED IS:

1. A computer-assisted system comprising;a repositionable structure configured to support an instrument;an input control device; and;a control system;wherein the control system is configured to:control the instrument based on input received from an operator using the input control device, wherein controlling the instrument comprises controlling one or more of an insertion distance of the instrument and at least a first degree of freedom of a wrist or flexible shaft of the instrument; determine the insertion distance of the instrument;determine, based on the insertion distance, an articulation limit for the first degree of freedom; anddrive, using one or more actuators, the first degree of freedom subject to the articulation limit.

2. The computer-assisted system of claim 1, wherein the first degree of freedom comprises a pitch degree of freedom or a yaw degree of freedom.

3. The computer-assisted system of claim 1, wherein the articulation limit for the first degree of freedom comprises a maximum amount an end effector of the instrument can be articulated relative to an insertion axis of the instrument.

4. The computer-assisted system of claim 3, wherein the insertion axis corresponds to a direction in which the instrument is introduced into a workspace.

5. The computer-assisted system of claim 3, wherein the insertion axis corresponds to a longitudinal direction of a shaft of the instrument proximal to the wrist of the instrument.

6. The computer-assisted system of claim 1, wherein the insertion distance is determined relative to a point where the instrument is introduced into a workspace.

7. The computer-assisted system of claim 1, wherein the insertion distance is determined from a distal end of a canula to the wrist or flexible shaft of instrument.Attorney Docket No. P06998-WO:0141PC8. The computer-assisted system of claim 1, wherein the insertion distance is determined from a remote center of motion to the wrist or flexible shaft of instrument, the remote center of motion being of the repositionable structure.

9. The computer-assisted system of claim 1, wherein the insertion distance is determined based on sensor data and one or more kinematic models associated with the repositionable structure or associated with the instrument.

10. The computer-assisted system of any one of claims 1-9, wherein the control system is further configured to:determine a second articulation limit for a second degree of freedom of the wrist of the instrument based on the insertion distance, the second articulation limit being different from the articulation limit.

11. The computer-assisted system of any one of claims 1-9, wherein the articulation limit has a linear relationship with respect to the insertion distance.

12. The computer-assisted system of any one of claims 1-9, wherein the articulation limit is further determined using a cone shaper function.

13. The computer-assisted system of claim 12, wherein the cone shaper function includes a minimum cone zone, a transition zone, and a maximum cone zone.

14. The computer-assisted system of claim 12, wherein the cone shaper function includes one or more linear or curved segments or any combination thereof that calculates the articulation limit based on the insertion distance.

15. The computer-assisted system of claim 12, wherein the cone shaper function is configured based on one or more of:a type of instrument associated with the instrument;one or more physical limitations of the instrument;a type of procedure being performed;a type of canula used to introduce the instrument into a workspace;Attorney Docket No. P06998-WO:0141PCan operator preference; orwhether a distal portion of the instrument being obscured by one or more intervening objects.

16. The computer-assisted system of any one of claims 1-9, wherein the articulation limit is further determined based on a machine learning model configured to learn from one or more previous insertion distances or previous orientations of the first degree of freedom.

17. The computer-assisted system of any one of claims 1-9, wherein the articulation limit is further determined based on one or more decision trees.

18. The computer-assisted system of any one of claims 1-9, wherein the control system is further configured to:in response to a determination that the operator is attempting to articulate the wrist beyond the articulation limit, provide feedback to the operator.

19. The computer-assisted system of claim 18, wherein the feedback includes one or more of an audio, visual, or haptic feedback notifying the operator that the articulation limit for the first degree of freedom has been reached.

20. The computer-assisted system of claim 18, wherein the feedback includes a virtual image of the articulation limit.

21. The computer-assisted system of claim 18, wherein the feedback is a haptic feedback based on an amount a commanded amount articulation of the first degree of freedom or an actual articulation of the first degree of freedom exceeds the articulation limit.

22. The computer-assisted system of claim 18, wherein the feedback to the operator replicates a physical sensation that would be felt if the first degree of freedom was being manipulated directly by a hand of the operator against a physical barrier corresponding to the articulation limit.

23. The computer-assisted system of claim 18, wherein the feedback to the operator is a vibration capable of being felt by the operator through the input control device.Attorney Docket No. P06998-WO:0141PC24. The computer-assisted system of claim 18, the control system is further configured to:prevent, based on the feedback, driving of the first degree of freedom past the articulation limit.

25. The computer-assisted system of claim 19, the control system is further configured to:facilitate straightening of the wrist or flexible shaft of the instrument when the instrument is being retracted.

26. A method for controlling an instrument, the method comprising:controlling the instrument based on input received from an operator using an input control device, wherein controlling the instrument comprises controlling one or more of an insertion distance of the instrument and at least a first degree of freedom of a wrist or flexible shaft of the instrument;determining the insertion distance of the instrument;determining, based on the insertion distance, an articulation limit for the first degree of freedom; anddriving, using one or more actuators, the first degree of freedom subject to the articulation limit.

27. The method of claim 26, wherein the first degree of freedom comprises a pitch degree of freedom or a yaw degree of freedom.

28. The method of claim 26, wherein the articulation limit for the first degree of freedom comprises a maximum amount an end effector of the instrument can be articulated relative to an insertion axis of the instrument.

29. The method of claim 28, wherein the insertion axis corresponds to a direction in which the instrument is introduced into a workspace.

30. The method of claim 28, wherein the insertion axis corresponds to a longitudinal direction of a shaft of the instrument proximal to the wrist of the instrument.Attorney Docket No. P06998-WO:0141PC31. The method of claim 26, wherein the insertion distance is determined relative to a point where the instrument is introduced into a workspace.

32. The method of claim 26, wherein the insertion distance is determined from a distal end of a canula to the wrist or flexible shaft of instrument.

33. The method of claim 26, wherein the insertion distance is determined from a remote center of motion to the wrist or flexible shaft of instrument, the remote center of motion being of a repositionable structure supporting the instrument.

34. The method of claim 26, wherein the insertion distance is determined based on sensor data and one or more kinematic models associated with the repositionable structure or associated with the instrument.

35. The method of claim 26, further comprising:determining a second articulation limit for a second degree of freedom of the wrist of the instrument based on the insertion distance, the second articulation limit being different from the articulation limit.

36. The method of claim 26, wherein the articulation limit has a linear relationship with respect to the insertion distance.

37. The method of claim 26, wherein the articulation limit is further determined using a cone shaper function.

38. The method of claim 37, wherein the cone shaper function includes a minimum cone zone, a transition zone, and a maximum cone zone.

39. The method of claim 37, wherein the cone shaper function includes one or more linear or curved segments or any combination thereof that calculates the articulation limit based on the insertion distance.

40. The method of claim 37, wherein the cone shaper function is configured based on one or more of:Attorney Docket No. P06998-WO:0141PCa type of instrument associated with the instrument;one or more physical limitations of the instrument;a type of procedure being performed;a type of canula used to introduce the instrument into a workspace;an operator preference; orwhether a distal portion of the instrument being obscured by one or more intervening objects.

41. The method of claim 26, wherein the articulation limit is further determined based on a machine learning model configured to learn from one or more previous insertion distances or previous orientations of the first degree of freedom.

42. The method of claim 26, wherein the articulation limit is further determined based on one or more decision trees.

43. The method of claim 26, further comprising:in response to determining that the operator is attempting to articulate the wrist beyond the articulation limit, providing feedback to the operator.

44. The method of claim 43, wherein the feedback includes one or more of an audio, visual, or haptic feedback notifying the operator that the articulation limit for the first degree of freedom has been reached.

45. The method of claim 43, wherein the feedback includes a virtual image of the articulation limit.

46. The method of claim 43, wherein the feedback is a haptic feedback based on an amount a commanded amount articulation of the first degree of freedom or an actual articulation of the first degree of freedom exceeds the articulation limit.

47. The method of claim 43, wherein the feedback to the operator replicates a physical sensation that would be felt if the first degree of freedom was being manipulated directly by a hand of the operator against a physical barrier corresponding to the articulation limit.Attorney Docket No. P06998-WO:0141PC48. The method of claim 43, wherein the feedback to the operator is a vibration capable of being felt by the operator through the input control device.

49. The method of claim 43, further comprising:preventing, based on the feedback, driving of the first degree of freedom past the articulation limit.

50. The method of claim 44, further comprising:facilitating straightening of the wrist or flexible shaft of the instrument when the instrument is being retracted.

51. One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform the method of any one of claims 26-50.

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