초록 ▼

The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or

The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.

대표청구항 ▼

[ We claim:] [1.] A method of controlling a surgical robot mechanism having one or more active joints and one or more passive joints, where motion of said passive joints is constrained by one or more environmental constraints imposed on the mechanism, the method comprising the steps of:a. determinin

[ We claim:] [1.] A method of controlling a surgical robot mechanism having one or more active joints and one or more passive joints, where motion of said passive joints is constrained by one or more environmental constraints imposed on the mechanism, the method comprising the steps of:a. determining positions of said active joints and said passive joints of the mechanism;b. determining an actual pose of a target element;c. determining a pose difference between the actual pose and a desired pose of the target element;d. on a first iteration of the method, characterizing said environmental constraints on a motion of said passive joints, said environmental constraints comprising a surgical opening in a patient's body;e. Jacobian mapping effects of said environmental constraints, a motion of said active joints, and the motion of said passive joints on motion of the target element;f. characterizing a desired incremental motion of the target element;g. using the Jacobian mapping of the effects of said environmental constraints on the motion of said passive joints to determine an incremental active joint motion for each of said active joints, the incremental active joint motion producing an actual incremental motion of the target element, so that a difference between the desired incremental motion and the actual incremental motion of the target element is minimized;h. moving said active joints by the determined incremental active joint motion; andi. repeating steps a through h until the pose difference between the actual pose and the desired pose of the target element is less than a desired amount.