CPC A61B 34/35 (2016.02) [A61B 34/00 (2016.02); A61B 34/10 (2016.02); A61B 34/37 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 90/00 (2016.02); B25J 9/1689 (2013.01); G16H 20/40 (2018.01); G16H 40/67 (2018.01); G16H 50/50 (2018.01); A61B 34/20 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 2090/3612 (2016.02); G05B 2219/40134 (2013.01); G05B 2219/40137 (2013.01); G05B 2219/40143 (2013.01); G05B 2219/40144 (2013.01); G05B 2219/40161 (2013.01); G05B 2219/40167 (2013.01); G05B 2219/40168 (2013.01); G05B 2219/40169 (2013.01); G05B 2219/40191 (2013.01); G05B 2219/45118 (2013.01)] | 19 Claims |
1. A teleoperated surgical system comprising:
a surgical instrument;
an actuator coupled to impart motion to the surgical instrument in response to a control signal;
a control signal rules information structure that provides classifications for kinematic information about the surgical system, based upon kinematic information recorded for a multiplicity of prior occurrences of a surgical procedure, and that associates the classifications with control signals;
a processor communicatively coupled to the actuator, to a sensor and to the control signal rules information structure, the processor configured to perform operations comprising:
receiving the kinematic information that indicates one or more of instantaneous velocity, instantaneous acceleration, instantaneous three-dimensional position, current path of motion or predicted path of motion of the surgical instrument;
identifying a classification of the received kinematic information based upon the classifications provided by the control signal rules information structure; and
launching a control signal associated by the control signal rules information structure with the identified classification.
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