Control System For A Surgical Robotic System

Abstract: A control system and method for controlling a surgical robotic system are provided, wherein the surgical robotic system comprises a surgical robot arm and a surgeon input device. The surgical robot arm comprises: (i) a series of joints by which its configuration can be altered, and (ii) an attachment for a surgical instrument at a distal end of the surgical robot arm. A condition is identified that suggests that the surgical robot arm is being used for a surgical step involving rotation of a surgical instrument attached to the surgical robot arm. In response to identifying said condition, a prompt is output for prompting a user to enable a rotational scaling mode. A mode selection input is received that indicates whether the user has selected to enable the rotational scaling mode. The rotational scaling mode is enabled in response to receiving a mode selection input that indicates that the user has selected to enable the rotational scaling mode. When the rotational scaling mode is enabled: (i) a control input is received from the surgeon input device, (ii) the received control input is used to determine an indication of a movement of the surgeon input device, wherein the indication of the movement comprises a matrix representation of a rotation of the surgeon input device, (iii) the matrix representation is converted into an axis-angle representation of the rotation of the surgeon input device, wherein said axis-angle representation of the rotation comprises: (i) an indication of a rotation axis for the rotation, and (ii) an angle of rotation about the rotation axis, (iv) the angle of rotation is scaled with a rotational scaling factor to determine a scaled angle of rotation about the rotation axis for a scaled axis-angle representation of a scaled rotation, (v) a control signal is generated for the surgical robot arm using the scaled axis-angle representation of the scaled rotation, and (vi) the generated control signal is sent to the surgical robot arm in order to drive the surgical robot arm such that its configuration is altered.

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