Surgical Input Mapping by Hand Position for Conflict-Free Teleoperation

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing robotic surgical systems face challenges in dynamically and intuitively assigning auxiliary functions to auxiliary input devices based on the functional capabilities of surgical instruments, leading to conflicts when multiple instruments with similar functions are used simultaneously.

Innovation Solution

A method and system that dynamically assign auxiliary input devices based on the relative position of the user's hands operating the master input devices, ensuring that auxiliary functions are assigned to separate input devices based on the user's hand position, eliminating the need for manual reassignment during procedures.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If auxiliary functions are pre-assigned to individual auxiliary input devices, then control assignment is simple and stable, but the system lacks flexibility when multiple instruments with similar functions are used simultaneously

Engineering Contradiction:

Improveflexibility in assigning auxiliary functionsVSAvoidcomplexity of control assignment system

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements dynamic assignment of auxiliary functions to auxiliary input devices based on the current operational state. The system continuously monitors which master input device is being operated and automatically assigns auxiliary functions accordingly, allowing the control configuration to adapt in real-time rather than being fixed beforehand.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system automatically detects the operational state and performs the assignment of auxiliary functions without requiring manual intervention from the user. The control system self-adjusts the mapping between auxiliary input devices and auxiliary functions based on which master input device is currently being used.

Inventive Principle:

Principle #25Self-service

2Adaptability or versatility

If multiple surgical instruments with similar auxiliary functions are used simultaneously, then surgical capabilities are enhanced, but conflicts arise in assigning auxiliary input devices to control these functions

Engineering Contradiction:

Improvecapability to operate multiple instrumentsVSAvoidconflict-free control assignment

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent applies different control assignments to different spatial locations or operational contexts. When a master input device is being operated, its associated auxiliary functions are assigned to specific auxiliary input devices, creating localized control groups that prevent conflicts even when multiple instruments are present.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The control system segments the auxiliary functions into groups associated with each master input device. By dividing the auxiliary functions based on which master device is active, the system avoids assignment conflicts that would occur if all auxiliary functions competed for the same auxiliary input devices.

Inventive Principle:

Principle #1Segmentation

3Extent of automation

If auxiliary input devices are statically assigned to specific auxiliary functions, then the control system is simple to implement, but it cannot dynamically adapt to changes in instrument control based on user hand positions

Engineering Contradiction:

Improveautomatic adaptation to hand positionsVSAvoidcomplexity of dynamic assignment system

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The system continuously monitors the operational state of master input devices and uses this feedback to dynamically adjust auxiliary function assignments. By detecting which master input device is currently being operated, the system automatically reconfigures the auxiliary input device mappings to match the current operational context.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The auxiliary input devices are designed to be universally assignable to different auxiliary functions based on operational context. Rather than being dedicated to specific functions, the auxiliary input devices can dynamically assume control of different auxiliary functions depending on which master input device is being used.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentEP4082468B1Methods and systems for assigning input devices to teleoperated surgical instrument functions

Publication Date: 2026.04.22 INTUITIVE SURGICAL OPERATIONS INC

Figure 1
Figure 2
Figure 3

AI summary

A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.