CN110177516B - 用于机器人手术系统的碰撞处理算法 - Google Patents
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Abstract
用于机器人手术系统的碰撞处理方法包括当手术机器人的一部分与障碍物碰撞并且输入手柄沿与使工具朝向障碍物移动相对应的方向移动时，相对于机器人手术系统的手术机器人的工具的姿势滑动机器人手术系统的用户界面的输入手柄。在输入手柄滑动之后，输入手柄相对于工具的期望姿势具有偏移。
Description
背景技术
机器人手术系统已经用于微创手术中。在医疗手术期间，机器人手术系统由与用户界面交互的外科医生控制。用户界面允许外科医生操纵作用于患者的末端执行器。
将末端执行器插入小切口(经由套管)或患者的自然孔口，以将末端执行器定位在患者体内的工作部位。一些机器人手术系统包括支撑机器人臂的机器人操纵台，以及安装到机器人臂的至少一个末端执行器，例如手术刀、镊子或抓握工具。
通常，用户界面包括输入控制器或手柄，所述输入控制器或手柄可由外科医生移动，以控制机器人手术系统。机器人手术系统通常使用缩放因子来缩小外科医生手的运动，以确定机器人器械在患者体内的期望位置。通常，这种缩放因子要求手柄的运动大于输入手柄的运动范围。因此，手柄达到工作空间的边界极限，并且防止外科医生完成期望的运动。目前市场上的机器人手术系统使用称为“紧握”的特征来将输入手柄的运动与机器人器械分离。然后外科医生可自由地将手柄移动到用户界面的工作空间内的新位置，同时器械保持静止。一旦输入手柄远离工作空间边界，外科医生就可以“再紧握”，以重新联接输入手柄的运动，从而用机器人器械完成所需的运动。
在机器人外科手术期间，机器人臂或末端执行器可能与组织、器官或另一个外科器械(例如，另一个机器人臂或末端执行器、进入端口或照相机)碰撞。这种碰撞可能在输入手柄的位置与与输入手柄相关联的机器人手臂或末端执行器之间产生位置不匹配。这种位置不匹配会在外科手术期间产生机器人臂或末端执行器的不希望的运动。
因此，需要用于机器人手术系统的碰撞处理算法。
发明内容
在本公开的一个方面，一种用于机器人手术系统的碰撞处理的方法包括：当手术机器人的一部分与障碍物碰撞并且输入手柄沿与使工具朝向障碍物移动相对应的方向移动时，相对于机器人手术系统的手术机器人的工具的姿势时，滑动机器人手术系统的用户界面的输入手柄。在输入手柄滑动之后，输入手柄相对于工具的期望姿势具有偏移。
在一些方面，该方法包括在输入手柄滑动之后沿一方向移动输入手柄以移动手术机器人的一部分远离障碍物。在工具沿远离障碍物的方向移动之前，输入手柄可以移动与该偏移相对应的距离。或者，工具可以在远离障碍物的方向上移动，同时保持输入手柄的位置与工具的姿势之间的微调。该微调可以等于偏移，或者该方法可以包括在平行于偏移的方向上相对于工具的姿势动态地缩放输入手柄的移动，直到该微调达到预定值。预定值可以是零或非零。
在一些方面，在手术机器人达到预定力阈值以使工具朝向期望姿势移动之后，相对于工具的姿势滑动手柄。该方法还可包括机器人手术系统的处理单元，所述处理单元限定在工具达到预定力阈值时输入手柄的阈值位置与输入手柄被推到阈值位置之后输入手柄的位置之间的偏移。该方法可以包括机器人手术系统向临床医生提供力反馈以抵抗输入手柄的滑动超过阈值位置。
在本公开的另一方面，一种利用机器人手术系统的处理单元对机器人手术系统进行碰撞处理的方法包括：从机器人手术系统的用户界面接收第一输入信号，以将机器人手术系统的手术机器人的工具移动到工具的期望姿势；将输入控制信号传输到手术机器人，以将工具朝向期望姿势移动；从手术机器人接收反馈信号，该反馈信号即使工具朝向期望姿势移动的力大于预定阈值；当达到预定阈值时将工具保持在阈值姿势；并且将输入手柄相对于阈值姿势的位置滑动到输入手柄的第二位置，以限定输入手柄的第二位置与对应于输入手柄的第二位置的工具的所需姿势之间的偏移。
在一些方面，该方法包括将反馈控制信号发送到用户界面，以抵抗输入手柄移动超过对应于工具的阈值姿势的阈值位置。
在一些方面，该方法包括在滑动输入手柄的位置之后从用户界面接收第二输入信号，该输入手柄的位置指示输入手柄朝向对应于工具的阈值姿势的阈值位置移动。该方法可以包括响应于接收第二输入信号而将工具保持在阈值姿势。或者，该方法可以包括将第二控制信号传输到手术机器人，以使工具远离期望的姿势移动，其中在输入手柄与工具的姿势之间限定微调。传输第二控制信号可以包括微调等于输入手柄的第二位置与对应于输入手柄的第二位置的工具的期望姿势之间的偏移。该方法可以包括动态地缩放输入手柄到工具的姿势的移动，以减小输入手柄的位置与工具的姿势之间的微调，直到微调达到预定值。预定值可以是零或非零。
下文参考附图更详细地描述本公开的示例性实施方案的另外的细节和方面。
附图说明
下面参照附图描述本公开的各个方面，附图并入在本说明书中并构成本说明书的一部分，其中：
图1是根据本公开的用户界面和机器人系统的示意图；以及
图2是图1的用户界面的工作空间的平面图示意图；
图3是图1的用户界面的显示设备的视图，示出了手术部位内的手术机器人的工具；
图4是根据本公开的碰撞处理和碰撞恢复的方法的流程图；以及
图5是根据本公开的另一种碰撞处理和碰撞恢复方法的流程图。
具体实施方式
现在参考各图详细描述本公开的实施方案，图中相同附图标号在若干视图中的每个视图中标示相同或对应元件。如本文所用，术语“临床医师”是指医生、外科医生、护士或任何其他护理提供者，并且可包括辅助人员。在整个说明书中，术语“近端”是指装置或其组件的最靠近临床医师的部分，并且术语“远端”是指装置或其组件的距临床医师最远的部分。另外，如本文所用，术语“中等的”应理解为表示未按比例缩放。
本公开总体涉及用于机器人手术系统的碰撞处理和碰撞恢复算法或方法。具体地，对于碰撞处理，当手术机器人的一部分与障碍物碰撞时，机器人手术系统的处理单元可允许用户界面的输入手柄滑动超过对应于手术机器人的工具的姿势的位置。相对于工具的姿势滑动输入手柄限定了输入手柄的位置与工具的姿势之间的偏移。
为了从碰撞中恢复，当手术机器人与障碍物碰撞时，输入手柄可以在工具从姿势移动之前移动穿过整个偏移。或者，输入手柄的任何移动以使手术机器人远离障碍物移动将使手术机器人远离障碍物移动，使得在输入手柄的位置与工具的姿势之间限定微调。微调可以等于偏移，或者机器人手术系统可以动态地缩放手术机器人的移动，以便以临床医生察觉不到的方式减少或移除微调。
参照图1，根据本公开的机器人手术系统1总体上示为手术机器人10、处理单元30和用户界面40。手术机器人10通常包括连杆12和机器人基座18。连杆12可移动地支撑末端执行器或工具20，该末端执行器或工具20构造成作用在组织上。连杆12可以是臂的形式，每个臂均具有支撑端部执行器或工具20的端部14，该端部执行器或工具20构造成作用在组织上。另外，连杆12的端部14可包括用于对手术部位“S”成像的成像装置16。用户界面40通过处理单元30与机器人基座18通信。
用户界面40包括显示装置44，所述显示装置44被配置为显示三维图像。显示装置44显示手术部位“S”的三维图像，所述三维图像可包括由定位于连杆12的端部14上的成像装置16捕获的数据和/或包括由定位于手术室周围的成像装置捕获的数据(例如，定位于手术部位“S”内的成像装置，定位于患者“P”附近的成像装置，位于成像臂52的远端的成像装置56)。成像装置(例如，成像装置16,56)可以捕获手术部位“S”的视觉图像、红外图像、超声图像、X射线图像、热图像和/或任何其他已知的实时图像。成像装置将捕获的成像数据发送到处理单元30，所述处理单元30从成像数据实时地创建手术部位“S”的三维图像，并将三维图像发送到显示装置44以进行显示。
用户界面40还包括支撑在控制臂43上的输入手柄42，所述控制臂43允许临床医生操纵手术机器人10(例如，移动臂12、连杆12的端部14和/或工具20)。每个输入手柄42与处理单元30通信，以向其发送控制信号，并从其接收反馈信号。另外地或替代地，每个输入手柄42均可包括输入装置46(图2)，所述输入装置允许外科医生操纵(例如，夹紧、抓握、冲击、打开、关闭、旋转、推动和切下等)支撑在连杆12的端部14处的工具20。
另外参考图2，每个输入手柄42均可移动穿过预限定的工作空间，以在手术部位“S”内移动连杆12的端部14，例如工具20(图1)。显示装置44上的三维图像被定向成使得输入手柄42的移动在显示装置44上观察时移动连杆12的端部14。三维图像保持静止，同时输入手柄42的移动根据三维图像内的连杆12的端部14的移动而缩放。为了保持三维图像的定向，输入手柄42的运动学映射相对于连杆12的端部14的定向基于照相机定向。显示设备44上的三维图像的定向可以相对于来自患者“P”上方的视图被镜像或旋转。另外，显示装置44上的三维图像的尺寸可以被缩放为大于或小于手术部位的实际结构，允许临床医生更好地观察手术部位“S”内的结构。当输入手柄42移动时，工具20在手术部位“S”内移动，如下所详述。工具20的移动还可包括支撑工具20的连杆12的端部14的移动。
对于机器人手术系统1的构造和操作的详细描述，可参考美国专利8,828,023，所述专利的全部内容被以引用的方式并入本文中。
工具20的移动相对于输入手柄42的移动而缩放。当输入手柄42在预定义的工作空间内移动时，输入手柄42将输入信号发送到处理单元30。处理单元30分析输入信号以响应输入信号移动工具20。处理单元30将缩放的控制信号发送到机器人基座18，以响应于输入手柄42的移动而移动工具20。处理单元30通过将输入距离(例如，由输入手柄42之一移动的距离)除以缩放因子SF来缩放输入信号，以到达缩放的输出距离(例如，被移动的一端14的距离)。缩放因子SF在约1至约10之间的范围内(例如，3)。该缩放由以下方程式表示：
输出距离＝输入距离/SF。
应当理解，缩放因子SF越大，工具20相对于输入手柄42的移动的移动越小。
对于输入手柄42沿X、Y和Z坐标轴的缩放运动到工具20的移动的详细描述，可以参考2015年9月21日提交的共同拥有的国际专利申请序列号PCT/US2015/051130和2016年1月20日提交的美国专利申请PCT/US2016/14031，这些公开的每一个的全部内容通过引用合并在本文中。
参见图1-图3所示，在机器人外科手术期间，临床医生与输入手柄42接合，以在手术部位“S”内操纵工具20。随着工具20在手术部位“S”内移动，临床医生可以在显示器44上看到工具20在手术部位“S”内的移动。
为了操纵工具20，临床医生将输入手柄42从第一位置“P1”移动到第二位置“P2”，如虚线所示(图2)。处理单元30接收从用户界面40发送的输入信号，并将控制信号发送到手术机器人10，以将工具20从第一姿势移动到第二姿势。例如，输入手柄42沿箭头“M1”所示的方向沿控制X轴移动一段距离，并且工具20沿箭头“R1”所示的机器人X轴的方向移动，箭头“R1”表示工具20从第一姿势“T1”朝向第二姿势“T2”的移动。
在工具20从第一姿势“T1”朝向第二姿势“T2”移动期间，工具20可能与手术部位“S”内的障碍物碰撞，所述障碍物例如组织T、另一工具20、器官或其他手术器械。当工具20与障碍物碰撞时，处理单元30从手术机器人10接收反馈信号，并将反馈控制信号发送到用户界面40。响应于接收到反馈控制信号，用户界面向临床医生提供力反馈，指示工具20与障碍物碰撞。例如，临床医生可能感觉到沿箭头“M1”方向沿控制X轴继续移动的阻力。
当临床医生感觉到力反馈时，临床医生可以推动输入手柄42抵抗力反馈(例如，在与力反馈的方向相反的方向上)，并沿着控制X轴沿箭头“M1”的方向继续移动输入手柄20。作为响应，处理单元30继续向手术机器人10发送控制信号，以沿着机器人X轴沿箭头“R1”的方向移动工具20，直到手术机器人10的力超过预定阈值，以沿机器人X轴20继续工具的移动。预定阈值可以通过手术机器人10的一部分的偏转或者通过手术机器人10的一个或多个关节处的扭矩来确定。当手术机器人10的力超过预定阈值时，手术机器人10根据机器人系统10的移动“紧握”输入手柄42的移动，缩小输入手柄42根据手术机器人10的移动的移动和/或任何其他已知的碰撞处理方法。有关的系统和方法，对于用于检测和处理机器人系统的连杆的工具与障碍物碰撞的系统和方法的详细讨论，可参考2018年1月4日提交的题为“SURGICAL ROBOT INCLUDING TORQUE SENSORS[代理人案号C00014971.USP1(203-11527)]”的美国临时专利申请序列号62/613,543，其全部内容在此引入作为参考。
特别参考图2，当输入手柄42位于阈值位置“PT”时，使工具20沿机器人X轴移动的力达到预定阈值。如图所示，输入手柄42被推过阈值位置“PT”到第二位置“P2”。当输入手柄42在阈值位置“PT”与第二位置“P2”之间移动时，工具20在手术部位“S”内基本静止，例如，工具20保持在第一姿势“T1”，如图3所示，使得输入手柄42相对于工具20“滑动”。输入手柄42相对于工具20的这种“滑动”导致基于输入手柄42的位置的工具20的期望姿势“T2”与保持在第一个姿势“T1”的工具20的实际姿势之间的位置不匹配。
在输入手柄42处于第二位置“P2”的情况下，手术机器人10将工具20保持在第一姿势“T1”，即达到预定阈值的姿势，直到输入手柄42沿控制器X沿需要低于预定阈值的力的方向上移动，以沿着机器人X轴沿例如与箭头“R1”相反的方向重新定位工具20。
该位置不匹配可能在外科手术期间在手术部位“S”内产生工具20的不希望的运动。例如，当输入手柄42处于第二位置“P2”时，工具20可以保持在第一姿势“T1”中，其中预定阈值力指向障碍物，例如组织“T”，使得如果工具20将其自身从障碍物中解放出来，则工具20可能意外地和/或以不希望的高速朝向期望的姿势“T2”移动。
参考图4，根据本公开，参考图1-图3的机器人手术系统1，公开了一种用于在与障碍物碰撞的情况下相对于工具20滑动输入手柄42的方法200和用于碰撞恢复的方法。如下所详述，描述了工具20与患者的组织“T”之间的碰撞；然而，这种碰撞可能在手术机器人10的任何部分与障碍物之间。例如，在手术机器人10的连杆12与另一个连杆12之间可能发生碰撞。
最初，临床医生沿控制X轴沿第一方向朝向第二位置“P2”移动输入手柄42，并发送指示移动的输入信号(步骤210)。处理单元30接收输入信号(步骤240)并发送输入控制信号，以朝向手术机器人10的期望姿势移动工具20(步骤242)。手术机器人10接收控制信号并将工具20以及因此手术机器人10朝向期望的姿势“T2”移动(步骤260)。
随着工具20朝向期望的姿势“T2”移动，手术机器人10的一部分(例如，工具20)可能与组织“T”碰撞，使得手术机器人10将需要大于预定阈值的力，以继续将手术机器人10朝向期望的姿势“T2”移动(步骤262)；该姿势被限定为阈值姿势“T1”。当达到或超过预定阈值时，手术机器人10将反馈信号发送到处理单元30。
处理单元30从手术机器人10接收反馈信号(步骤244)，并将控制信号发送到手术机器人10(步骤246)，以将手术机器人维持在阈值姿势“T1”处(步骤264)。另外，处理单元30将反馈控制信号发送到用户界面40(步骤246)。响应于反馈控制信号，临床医生经历力反馈以防止输入手柄移动超过对应于手术机器人10的阈值姿势“T1”的阈值位置“PT”(步骤212)。
临床医生可以通过用户界面40的力反馈将输入手柄42沿第一方向推动到第二位置“P2”(步骤214)。处理单元30响应于输入手柄42在第一方向上的移动而接收输入信号，并且相对于手术机器人10的姿势滑动输入手柄42的位置(步骤248)。当输入手柄42移动超过阈值位置“PT”时，随着输入手柄42在阈值位置“PT”与第二位置“P2”之间“滑动”，沿控制X轴生成偏移。偏移表示输入手柄42的移动超过输入手柄42的位置对应于手术机器人10的姿势的点，例如，阈值位置“PT”，以及输入手柄42的位置，例如第二个位置“P2”。
在输入手柄42处于第二位置“P2”的情况下，输入手柄42可沿控制X轴沿远离障碍物的第二方向(例如，与箭头“M1”相反的方向)移动(步骤216)，使得在手术机器人10的工具20沿与箭头“R1”相反的方向沿机器人X轴移动之前，输入手柄42移动穿过等于第二位置“P2”与阈值位置“PT”之间的偏移的死区。一旦输入手柄42沿控制X轴返回到阈值位置“PT”，手术机器人10就从碰撞中恢复，使得手术机器人10响应于沿第二方向的输入手柄的额外移动而沿着机器人X轴移动工具20(步骤220、254、256、266)。应当理解，通过很小的阻力或没有阻力，例如力反馈，输入手柄42沿着控制X轴朝向阈值位置“PT”的移动将被允许，同时输入手柄42沿控制X轴远离阈值位置“PT”的额外移动将通过额外的力反馈受到抵抗。
另外参考图5，根据本公开公开了另一种碰撞恢复方法300。在处理单元30相对于手术机器人10的阈值姿势滑动输入手柄42的位置以限定偏移之后(步骤248)，输入手柄42沿控制X轴沿第二方向移动(步骤302))。处理单元30接收指示输入手柄42沿第二方向的移动的输入信号(步骤350)，并且将第二控制信号发送到手术机器人10，以远离阈值姿势“T2”移动，微调在输入手柄与手术机器人的姿势之间(步骤352)。应当理解，微调基本上等于阈值位置“PT”与第二位置“P2”之间的偏移。手术机器人10接收第二控制信号，并使手术机器人10远离阈值姿势移动(步骤366)。机器人手术系统1可以响应于输入手柄42的移动而继续操纵手术机器人10，微调保持在输入手柄42的位置与手术机器人10的姿势之间。
或者，在一些实施方案中，机器人手术系统1可以动态地缩放输入手柄42和工具20的移动，以便以临床医生难以察觉的方式减少或消除微调。例如，输入手柄42可以沿控制X轴沿第一方向和第二方向移动，使得输入信号被发送到处理单元30(步骤304)。处理单元30接收输入信号(步骤354)，并动态地缩放输入手柄42的运动，以减小输入手柄42与手术机器人10的姿势之间的微调(步骤356)。处理单元30将缩放的控制信号发送到手术机器人10(步骤358)，这响应于缩放的控制信号移动手术机器人10(步骤368)。可以将微调减小到预定值，并且机器人手术系统10可以响应于输入手柄42的移动而继续移动手术机器人10。在特定实施例中，微调的预定值是非零的，并且在其他实施方案中，微调减小到零，使得输入手柄42的位置对应于手术机器人10的姿势。
对于使用偏移和/或动态缩放进行作用以消除偏移的机器人手术系统的详细讨论，可以参考2017年9月5日提交的题为“ROBOTIC SURGICAL SYSTEMS WITH ROLL,PITCH,AND YAW REALIGNMENT INCLUDING TRIM AND FLIP ALGORITHMS”[代理人案号C00014973.USP1(203-11525)]的共同拥有的美国临时专利申请62/554,292，其全部内容通过引入合并入本文。
相对于工具20的姿势滑动输入手柄42的位置允许输入手柄42在用户界面40的工作空间内移动或重新定位，而不会使工具20在手术部位“S”内移动。上面详述的碰撞恢复方法，例如，使输入手柄42移动穿过死区、以偏移操作以及动态缩放以消除偏移，允许手术机器人的工具(例如，工具20)在碰撞后的可预测的移动。这种可预测的运动可以改善手术结果、减少手术时间、减少恢复时间和/或降低手术成本。
如上所述，用户界面40与手术机器人10可操作地通信，以对患者实施外科手术；然而，可以设想，用户界面40可以与手术模拟器(未示出)可操作地通信，以虚拟地致动模拟环境中的机器人系统和/或工具。例如，机器人手术系统1可以具有第一模式和第二模式，在所述第一模式中，用户界面40被联接以致动手术机器人10，在所述第二模式中，用户界面40被联接到手术模拟器以虚拟地致动机器人系统。手术模拟器可以是独立单元或集成到处理单元30中。手术模拟器通过用户界面40向临床医生提供视觉、听觉、力和/或触觉反馈，实际地响应与用户界面40接口的临床医生。例如，当临床医生与输入手柄42接合时，手术模拟器移动实际上作用于组织的代表性工具。可以设想，手术模拟器可以允许临床医生在对患者实施外科手术之前实施外科手术。另外，手术模拟器可用于在外科手术中训练临床医生。此外，手术模拟器可以在所提出的外科手术期间模拟“并发症”，以允许临床医生规划外科手术。
虽然已经在附图中示出本公开的若干实施方案，但是本公开并不旨在受其限制，因为本公开的范围旨在如领域将允许的一样广泛并且说明书同样以此方式阅读。还设想上述实施方案的任何组合，并且所述组合在所附权利要求书的范围内。因此，上文的描述不应解释为限制性的，而仅仅是作为具体实施方案的例证。本领域的技术人员将设想到在本文所附的权利要求书的范围内的其它修改。
Claims (11)
1.一种用于机器人手术系统的碰撞处理方法，所述方法包括：
当手术机器人的一部分与障碍物碰撞并且输入手柄沿相应于朝向所述障碍物移动工具的方向移动时，相对于所述机器人手术系统的手术机器人的工具的姿势滑动所述机器人手术系统的用户界面的所述输入手柄，所述输入手柄响应于所述输入手柄的滑动相对于所述工具的期望姿势而具有偏移，
所述方法还包括：
在滑动所述输入手柄之后沿远离所述障碍物的方向移动所述输入手柄，使得所述工具沿远离所述障碍物的方向移动，在所述输入手柄的位置与所述工具的姿势之间保持微调，以及
沿平行于所述偏移的方向相对于所述工具的姿势动态地缩放所述输入手柄的运动，直到所述微调达到预定值。
2.根据权利要求1所述的方法，还包括在所述输入手柄滑动之后沿着使所述手术机器人的所述部分远离所述障碍物移动的方向移动所述输入手柄，所述输入手柄在所述工具沿远离所述障碍物的方向移动之前移动与所述偏移相对应的距离。
3.根据权利要求1所述的方法，其中所述微调是等于所述偏移。
4.根据权利要求1所述的方法，其中所述预定值是非零值。
5.根据权利要求1所述的方法，其中在所述手术机器人达到预定的力阈值以使所述工具朝向期望的姿势移动之后，相对于所述工具的姿势滑动所述输入手柄。
6.根据权利要求5所述的方法，还包括所述机器人手术系统的处理单元限定当所述工具到达所述预定力阈值时所述输入手柄的阈值位置与在所述输入手柄被推到超出阈值位置后所述输入手柄的位置之间的所述偏移。
7.根据权利要求6所述的方法，还包括所述机器人手术系统提供力反馈给临床医生来抵抗超过阈值位置的输入手柄的滑动。
8.一种使用机器人手术系统的处理单元对机器人手术系统进行碰撞处理的方法，所述方法包括：
从所述机器人手术系统的用户界面接收第一输入信号，以将所述机器人手术系统的手术机器人的工具移动到所述工具的期望姿势；
将输入控制信号传输到手术机器人，以使所述工具朝向所述期望的姿势移动；
从所述手术机器人接收反馈信号，使工具朝向所述期望姿势移动的力大于预定阈值；
当达到所述预定阈值时，将所述工具保持在阈值姿势；以及
将输入手柄相对于所述阈值姿势的位置滑动到所述输入手柄的第二位置，以限定所述输入手柄的第二位置与对应于所述输入手柄的第二位置的所述工具的期望姿势之间的偏移，
所述方法还包括：
在滑动所述输入手柄的位置后从所述用户界面接收第二输入信号，其指示所述输入手柄朝对应于所述工具的阈值姿势的阈值位置移动，
将第二控制信号传送到所述手术机器人，以将所述工具远离所述期望姿势移动，其中在所述输入手柄与所述工具的姿势之间限定微调，
其中发送所述第二控制信号包括所述微调等于所述输入手柄的第二位置与对应于所述输入手柄的第二位置的所述工具的期望姿势之间的所述偏移，以及
动态地缩放所述输入手柄到所述工具的姿势的运动，以减少所述输入手柄的位置与所述工具的姿势之间的所述微调，直到所述微调到达预定值。
9.根据权利要求8所述的方法，还包括将反馈控制信号发送到所述用户界面，以抵抗所述输入手柄的超过对应于所述工具的阈值姿势的阈值位置的运动。
10.根据权利要求8所述的方法，还包括响应于接收到所述第二输入信号将所述工具保持在所述阈值姿势中。
11.根据权利要求8所述的方法，其中所述预定值是非零值。
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| CA3074443A1 (en) | 2019-03-14 |
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