Guided setup for teleoperated medical device

Abstract

A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

1 - 38 . (canceled) 
     
     
         39 . A teleoperational system comprising:
 a teleoperational assembly configured to be set up for a procedure using a plurality of steps, the plurality of steps configured to be performed in a setup sequence;   a first display;   a second display physically separate from the first display; and   a guided setup system communicatively coupled to the teleoperational assembly, the first display, and the second display, the guided setup system having stored in memory a plurality of instructions configured to be presented in an instruction sequence for prompting the plurality of steps in the setup sequence, each instruction of the plurality of instructions for prompting a step of the plurality of steps,   wherein the guided setup system is configured to: coordinate presentation of the plurality of instructions using the first and second displays such that different prompts are presented by the first and second displays for an instruction of the plurality of instructions.   
     
     
         40 . The teleoperational system of  claim 39 , wherein:
 the first display is located on a first part of the teleoperational system configured to interact with a first user; and wherein   the second display is located on a second part of the teleoperational system configured to interact with a second user, the second user different from the first user.   
     
     
         41 . The teleoperational system of  claim 40 , wherein:
 the teleoperational system is a teleoperational medical system;   the first display is configured to be located in a sterile zone;   the second display is configured to be located in a non-sterile zone; and   the different prompts comprise a prompt associated with a sterile user for the first display, and a prompt associated with a non-sterile user for the second display.   
     
     
         42 . The teleoperational system of  claim 39 , wherein the first display is located on the teleoperational assembly. 
     
     
         43 . The teleoperational system of  claim 42 , further comprising:
 a cart physically separated from the teleoperational assembly, wherein the second display is located on the cart.   
     
     
         44 . The teleoperational system of  claim 39 , wherein the guided setup system is configured to coordinate presentation of the plurality of instructions using the first and second displays by:
 causing the first and second displays to present the different prompts simultaneously.   
     
     
         45 . The teleoperational system of  claim 39 , wherein the guided setup system is further configured to:
 coordinate presentation of the plurality of instructions using the first and second displays such that, for an instruction of the plurality of instructions, a display prompt is presented on the first display and not the second display, or presented on the second display and not the first display.   
     
     
         46 . The teleoperational system of  claim 39 , wherein the guided setup system is further configured to coordinate presentation of the plurality of instructions using the first and second displays by:
 causing the first display to continue presenting prompts for the plurality of instructions after the causing the second display to stop presenting prompts for the plurality of instructions; or   causing the second display to continue presenting prompts for the plurality of instructions after the causing the first display to stop presenting prompts for the plurality of instructions.   
     
     
         47 . The teleoperational system of  claim 46 , wherein:
 the teleoperational system is a teleoperational medical system;   the teleoperational assembly comprises a manipulator arm; and   the guided setup system is configured to cause the second or first display to stop presenting prompts for the plurality of instructions is in response to detecting a cannula attached to the manipulator arm.   
     
     
         48 . The teleoperational system of  claim 47 , wherein:
 the first display is disposed on the manipulator arm; and   the guided setup system is configured to cause the first display to stop presenting prompts for the plurality of instructions is in response to detecting the cannula attached to the manipulator arm.   
     
     
         49 . The teleoperational system of  claim 39 , wherein:
 the plurality of instructions comprises: a first instruction, a second instruction, and third instruction;   the first instruction is for prompting a first step of the plurality of steps;   the second instruction is for prompting a second step of the plurality of steps, the second instruction being sequenced after the first instruction in the instruction sequence, and the second step being sequenced after the first step in the setup sequence;   the third instruction is for prompting a third step of the plurality of steps, the third instruction being sequenced after the second instruction in the instruction sequence, and the third step being sequenced after the second step in the setup sequence; and   the guided setup system is further configured to: in response to detecting a completion of the second step without earlier detecting a completion of the first step, automatically skip presentation of the second instruction and present the third instruction.   
     
     
         50 . The teleoperational system of  claim 49 , wherein the guided setup system further configured to:
 in response to a user completing the second step without earlier completing the first step, present a reminder to the user relating to the first step; and   in response to the user completing the third step after presentation of the reminder, remove the reminder and present to the user a fourth instruction of the plurality of instructions.   
     
     
         51 . The teleoperational system of  claim 39 , wherein the guided setup system is further configured to:
 in response to a determination that a condition for implementing a universal override has been met, bypass presentation of at least one instruction of the plurality of instructions.   
     
     
         52 . A method of operating a guided setup system for a teleoperational system comprising a teleoperational assembly, the teleoperational assembly configured to be set up for a procedure using a plurality of steps, the plurality of steps configured to be performed in a setup sequence, the method comprising:
 storing, in a memory of the guided setup system, a plurality of instructions configured to be presented in an instruction sequence for prompting the plurality of steps in the setup sequence, each instruction of the plurality of instructions for prompting a step of the plurality of steps; and   coordinating presentation of the plurality of instructions using first and second displays of the teleoperational system such that different prompts are presented by first and second displays of the teleoperational system for at least one instruction of the plurality of instructions.   
     
     
         53 . The method of  claim 52 , wherein:
 the first display is configured to be located in a sterile zone;   the second display is configured to be located in a non-sterile zone; and   the different prompts comprise a prompt associated with a sterile user for the first display, and a prompt associated with a non-sterile user for the second display.   
     
     
         54 . The method of  claim 52 , wherein the different prompts are presented by the first and second displays simultaneously. 
     
     
         55 . The method of  claim 52 , further comprising:
 coordinating presentation of the plurality of instructions using the first and second displays such that, for an instruction of the plurality of instructions, a display prompt is presented on the first display and not the second display, or presented on the second display and not the first display.   
     
     
         56 . The method of  claim 52 , further comprising:
 causing the first display to continue presenting prompts for the plurality of instructions after the causing the second display to stop presenting prompts for the plurality of instructions; or p 1  causing the second display to continue presenting prompts for the plurality of instructions after the causing the first display to stop presenting prompts for the plurality of instructions.   
     
     
         57 . The method of  claim 56 , wherein causing the second or first display to stop presenting prompts for the plurality of instructions is in response to detecting a cannula attached to a manipulator arm of the teleoperational assembly. 
     
     
         58 . The method of  claim 52 , wherein:
 the plurality of instructions comprises: a first instruction, a second instruction, and third instruction;   the first instruction is for prompting a first step of the plurality of steps;   the second instruction is for prompting a second step of the plurality of steps, the second instruction being sequenced after the first instruction in the instruction sequence, and the second step being sequenced after the first step in the setup sequence;   the third instruction is for prompting a third step of the plurality of steps, the third instruction being sequenced after the second instruction in the instruction sequence, and the third step being sequenced after the second step in the setup sequence; and   the method further comprises: in response to detecting a completion of the second step without earlier detecting a completion of the first step, automatically skip presentation of the second instruction and present the third instruction.   
     
     
         59 . A non-transitory machine-readable medium comprising a plurality of computer-readable instructions which when executed by one or more processors associated with a guided setup system for a teleoperational system comprising a teleoperational assembly, the teleoperational assembly configured to be set up for a procedure using a plurality of steps, the plurality of steps configured to be performed in a setup sequence, causes the one or more processors to perform a method comprising:
 storing, in a memory of the guided setup system, a plurality of instructions configured to be presented in an instruction sequence for prompting the plurality of steps in the setup sequence, each instruction of the plurality of instructions for prompting a step of the plurality of steps; and   coordinating presentation of the plurality of instructions using first and second displays of the teleoperational system such that different prompts are presented by first and second displays of the teleoperational system for at least one instruction of the plurality of instructions.   
     
     
         60 . The non-transitory machine-readable medium of  claim 59 , wherein:
 the first display is configured to be located in a sterile zone;   the second display is configured to be located in a non-sterile zone; and   the different prompts comprise a prompt associated with a sterile user for the first display, and a prompt associated with a non-sterile user for the second display.   
     
     
         61 . The non-transitory machine-readable medium of  claim 59 , wherein the method further comprises:
 coordinating presentation of the plurality of instructions using the first and second displays such that, for an instruction of the plurality of instructions, a display prompt is presented on the first display and not the second display, or presented on the second display and not the first display; or causing the first display to continue presenting prompts for the plurality of instructions after the causing the second display to stop presenting prompts for the plurality of instructions; or   causing the second display to continue presenting prompts for the plurality of instructions after the causing the first display to stop presenting prompts for the plurality of instructions.