Teleoperational Instrument Control Switching Using Proxy Positions

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Solution Overview

Problem

Conventional teleoperational medical systems face difficulties in efficiently switching control assignments between instruments, often requiring physicians to assume uncomfortable and awkward hand positions, and may occur outside their direct view.

Innovation Solution

A method and system for reassigning control between teleoperational instruments by detecting an instrument reassignment input, computing proxy positions, and associating the master controller with the target instrument based on these positions, using visual and haptic cues to facilitate seamless control switching.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the physician manually switches control between instruments using traditional master controllers, then control assignment can be changed, but the physician must assume uncomfortable and awkward hand positions and do so outside their direct view

Engineering Contradiction:

Improveease of control switchingVSAvoiduncomfortable hand positions

Core Design Contradiction:

Ease of operationVSObject-generated harmful factors

Solution Approach 1:

The patent replaces the traditional mechanical master controller switching mechanism with a vision-based automated system. The system uses images from an imaging device to automatically detect and switch control assignment between instruments based on their visual positions in the surgical field, eliminating the need for manual controller manipulation and uncomfortable hand positions.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system enables self-service by allowing the control system to automatically perform instrument identification and control switching without physician intervention. The system uses visual data from the surgical field to autonomously determine which instrument should be controlled and switches control assignment automatically, freeing the physician from manual switching operations.

Inventive Principle:

Principle #25Self-service

2Ease of operation

If the physician manually switches control between instruments using traditional master controllers, then control assignment can be changed, but the switching occurs outside the physician's direct view

Engineering Contradiction:

Improveease of control switchingVSAvoidloss of visual context

Core Design Contradiction:

Ease of operationVSLoss of information

Solution Approach 1:

The patent replaces manual controller switching with a vision-based system that uses images from the surgical field to guide control assignment. The system processes visual information to identify instruments and automatically switches control based on what is directly visible in the surgical field, ensuring switching occurs within the physician's visual context rather than outside it.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system implements feedback by continuously using images from the imaging device to monitor instrument positions and automatically adjusting control assignment based on visual feedback from the surgical field. This closed-loop approach ensures control switching is informed by real-time visual information from the procedure site.

Inventive Principle:

Principle #23Feedback

3Adaptability or versatility

If multiple instruments are controlled manually during a procedure, then surgical tasks can be performed, but control assignment switching is inefficient and time-consuming

Engineering Contradiction:

Improveinstrument control flexibilityVSAvoidprocedure efficiency

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces the manual controller switching mechanism with a vision-based automated system. The system uses images from an imaging device to automatically detect and switch control assignment between instruments based on their visual positions in the surgical field, eliminating the need for manual controller manipulation and improving operational efficiency.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12508091B2Systems and methods for switching control between multiple instrument arms

Publication Date: 2025.12.30 INTUITIVE SURGICAL OPERATIONS INC

AI summary

Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.