IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0175590
(2011-07-01)
|
등록번호 |
US-8749190
(2014-06-10)
|
발명자
/ 주소 |
- Nowlin, William C.
- Mohr, Paul W.
- Schena, Bruce M.
- Larkin, David Q.
- Guthart, Gary S.
|
출원인 / 주소 |
- Intuitive Surgical Operations, Inc.
|
인용정보 |
피인용 횟수 :
39 인용 특허 :
40 |
초록
▼
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site.
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
대표청구항
▼
1. A tele-surgical manipulator system comprising: a movable surgical instrument holder;a surgical instrument mountable to the surgical instrument holder, the surgical instrument comprising an end effector;a manipulator, the manipulator comprising an arm assembly pivotally coupled to the proximal bas
1. A tele-surgical manipulator system comprising: a movable surgical instrument holder;a surgical instrument mountable to the surgical instrument holder, the surgical instrument comprising an end effector;a manipulator, the manipulator comprising an arm assembly pivotally coupled to the proximal base at a driven first pivotal joint and pivotally coupled to the instrument holder,wherein the arm assembly includes: a first link,a second link,a driven pivotal arm joint coupling the first link to the second link to vary an angle between a longitudinal axis of the first link and a longitudinal axis of the second link around a pivotal axis, anda driven first roll joint between the base and pivotal arm joint, wherein the first roll joint has a first roll axis extending along the longitudinal axis of the first link,the arm assembly being configured such that the arm assembly distal of the first roll joint has a range of configurations for a given state of the surgical instrument holder and movement of the first roll joint provides an additional degree of freedom of the arm assembly; anda processor coupled to the manipulator and configured to: determine a desired movement of the end effector within a surgical space in response to receiving a command to move the end effector,determine first calculated driven joint movements to effect the desired movement of the end effector,determine a desired movement of an intermediate portion of the arm assembly between the first roll joint and the instrument holder so as to (i) inhibit collisions between the manipulator and an adjacent arm, adjacent equipment, or adjacent personnel, and/or (ii) to increase a range of motion of the manipulator, and/or (iii) to avoid a joint limit or a singularity of a joint of the manipulator, anddetermine second calculated driven joint movements that include movement of the first roll joint to effect the desired movement of the intermediate portion of the arm assembly of the manipulator. 2. The system of claim 1, wherein the instrument further comprises a shaft having a first end and an opposite second end, an instrument interface coupled to the first end of the shaft, the instrument interface being mountable to the instrument holder, the end effector being coupled to the second end of the shaft; and wherein the processor is further configured to:determine the desired movement of the end effector as the shaft passes through a minimally invasive access site,determine a desired pivotal center location, anddetermine third calculated driven joint movements that include a pivot of the shaft about a calculated pivotal center to effect the desired end effector movement so that the calculated pivotal center corresponds to the desired pivotal center location. 3. The system of claim 1, wherein the pivotal arm joint is configured to define a joint elbow of the arm assembly; and wherein the first roll joint, the pivotal arm joint, and the first pivotal joint are configured to allow rotation of the joint elbow about the first roll axis to effect the desired movement of the intermediate portion of the arm assembly of the manipulator while maintaining the joint elbow of the arm assembly at an angle less than 180 degrees while the base and the instrument holder remain stationary. 4. The system of claim 3, wherein the first roll joint is configured with at least 180 degrees of travel so as to facilitate rotating of the joint elbow between opposing orientations. 5. The system of claim 1, wherein the arm assembly comprises: a third link coupled to the first link by the first roll joint, the third link having a longitudinal axis extending along the longitudinal first axis of the first link; anda fourth link coupled to the second link by a second roll joint, the second link having a second roll axis extending along the longitudinal axis of the second link. 6. The system of claim 5, wherein the arm assembly is coupled to the base by an arm pivot configured to allow pivotal movement of the arm assembly relative to the base about a first pivotal axis and about a second pivotal axis, wherein the second pivotal axis is transverse to the first pivotal axis,wherein the arm assembly is coupled to the instrument holder by a wrist configured to allow pivotal movement of the instrument holder relative to the arm assembly about a third pivotal axis, andwherein the pivotal axis of the pivotal arm joint of the arm assembly is a fourth pivotal axis. 7. The system of claim 1, wherein the instrument is configured with a plurality of degrees of freedom between the instrument interface and the end effector, the plurality of degrees of freedom being such that the arm assembly and the instrument have a range of states for an end effector position while the shaft extends through a minimally invasive aperture. 8. The system of claim 7, further comprising an instrument holder wrist comprising a pair of pivotal wrist joints that allow pivotal motion of the end effector. 9. The system of claim 1, wherein a length of the first link and a length of the second link are within about twenty percent of one another. 10. The system of claim 1; wherein the arm assembly comprises a plurality of driven joints that include the pivotal arm joint, the first pivotal joint, and the first roll joint; andwherein at least two joints of the plurality of joints of the arm assembly have mutually redundant degrees of freedom for a given state of the end effector such that actuation of a first joint of the at least two joints of the plurality of joints of the arm assembly is directly replaceable by an actuation of a second joint of the at least two joints of the plurality of joints of the arm assembly to assume the given state of the end effector, the given state comprising an individual location, orientation, or velocity of the end effector. 11. The system of claim 10, wherein the redundant degrees of freedom of the at least two joints of the plurality of joints of the arm assembly are configured to allow links of the arm assembly to move without changing location and orientation of the end effector. 12. The system of claim 1, wherein the arm assembly is pivotally mounted to the instrument holder at an instrument wrist. 13. The system of claim 1; wherein the arm assembly is a first arm assembly;wherein the pivotal arm joint defines a joint elbow of the first arm assembly; andwherein the system further comprises a second arm assembly, the first arm assembly and the second arm assembly each supporting an associated surgical instrument; andwherein the processor is further configured to drive the first arm assembly so as to maintain and pivot the joint elbow of the first arm assembly to inhibit a collision of the first arm assembly with the second arm assembly. 14. The system of claim 1, wherein the arm assembly of the manipulator is configured such that the first roll axis of the first roll joint is aligned with the first longitudinal axis of the first link. 15. The system of claim 1; wherein the arm assembly of the manipulator includes an additional pivotal arm joint between the pivotal arm joint and the instrument holder. 16. The system of claim 1; wherein the processor is configured to drive a plurality of joints of the arm assembly to perform a primary function, the primary function being effecting the desired movement of the end effector; andwherein the processor is configured to drive the first roll joint to effect one or more additional tasks, the one or more additional tasks comprising any of inhibiting collisions between the manipulator and an adjacent arm, inhibiting collision between the manipulator and adjacent equipment, inhibiting collisions between the manipulator and adjacent personnel, increasing a range of motion of the manipulator, or avoiding a joint limit or a singularity. 17. The system of claim 16, wherein the processor is configured to drive the plurality of joints of the arm assembly to effect the primary function without rolling of the first roll joint. 18. A tele-surgical manipulator system comprising: a movable surgical instrument holder;a base;a manipulator comprising an arm assembly pivotally coupled to the base and pivotally coupled to the instrument holder, the arm assembly including: a first link,a second link,a pivotal arm joint coupling the first link to the second link to vary an angle between a longitudinal axis of the first link and a longitudinal axis of the second link around a pivotal axis, wherein the pivotal arm joint defines a joint apex, anda first roll joint between the base and pivotal arm joint, wherein the first roll joint has a first roll axis extending along the longitudinal axis of the first link;an instrument comprising a shaft having a first end, an opposite second end, an instrument interface coupled to the first end of the shaft, the instrument interface being mountable to the instrument holder, and an end effector coupled to the second end of the shaft; anda processor coupled to the manipulator and configured to determine a desired movement of the end effector within a surgical space as the shaft passes through a minimally invasive access site;wherein the processor includes a soft constraint configured to maintain the joint apex configuration oriented in a pre-determined direction determined so as to (i) inhibit collisions of the manipulator with an adjacent arm, adjacent equipment, or adjacent person and/or (ii) to avoid a joint limit or a singularity of a joint of the manipulator. 19. The system of claim 18, wherein the pre-determined direction is a substantially upwardly oriented configuration so as to inhibit collisions with an adjacent arm, adjacent equipment, or adjacent person. 20. The system of claim 18, wherein the processor is further configured such that the pre-determined direction is opposing a pre-determined direction in which a joint apex configuration of an additional manipulator adjacent the manipulator is disposed so as to inhibit collisions between the manipulator and the additional manipulator. 21. A tele-surgical system comprising: a surgical instrument having a proximal end, a distal end effector suitable for insertion into a patient, and a shaft extending between the proximal end and the distal end effector;a manipulator configured to support the proximal end of the instrument so as to move the instrument from outside the patient,the manipulator including an arm assembly pivotally coupled to a base and pivotally coupled to the surgical instrument, the arm assembly including: a first link,a second link,a pivotal arm joint coupling the first link to the second link to vary an angle between a longitudinal axis of the first link and a longitudinal axis of the second link, anda first roll joint between the base and pivotal arm joint, wherein the first roll joint has an arm roll axis extending along the longitudinal axis of the first link;the manipulator and instrument together having a plurality of driven joints, the plurality of driven joints providing sufficient degrees of freedom to allow a range of joint states for a position of the distal end effector while the shaft passes through an access site, the plurality of driven joints including the pivotal arm joint and the first roll joint;an input configured to receive a command to move the end effector according to a desired movement within a surgical workspace; anda processor coupling the input to the manipulator,the processor being configured to: determine first calculated movements of the plurality of driven joints in response to the received command to move the distal end effector according to the desired movement while the shaft of the instrument is within the access site,determine a desired movement of an intermediate portion of the arm assembly between the first roll joint and the instrument holder so as to (i) inhibit collisions between the manipulator and an adjacent arm, adjacent equipment, or adjacent personnel, and/or (ii) to increase a range of motion of the manipulator, and/or (iii) to avoid a joint limit or a singularity of a joint of the manipulator, anddetermine second calculated driven joint movements that include movement of the first roll joint to effect the desired movement of the intermediate portion of the arm assembly of the manipulator. 22. A tele-surgical manipulator system comprising: a manipulator having: a manipulator base;a first link having a proximal end, a distal end, and a first link axis between the proximal and distal ends of the first link, the proximal end of the first link being coupled to the manipulator base through a driven first joint, the first joint being configured to allow rotation of the first link axis about a first joint axis, the first joint axis being angularly offset from the first link axis;a second link having a proximal end, a distal end, and a second link axis between the proximal and distal ends of the second link, the proximal end of the second link being coupled to the distal end of the first link at a driven second joint configured to allow an angle between the second link axis and the first link axis to vary;a third link having a proximal end, a distal end, and a third link axis between the proximal and distal ends of the third link, the proximal end of the third link being coupled to the distal end of the second link at a driven third joint configured to allow rotation of the third link about the second link axis;a fourth link having a proximal end, a distal end, and a fourth link axis between the proximal and distal ends of the fourth link, the proximal end of the fourth link axis being coupled to the distal end of the third link at a driven fourth joint configured to allow changes to an angle between the third link axis and the fourth link axis;a fifth link having a first portion and a second portion, the first portion of the fifth link being coupled to the distal end of the fourth link at a driven fifth joint configured to allow rotation of the fifth link about the fourth link axis; andan instrument holder defining an instrument axis when an instrument is mounted in the instrument holder, wherein the instrument holder is coupled to the second portion of the fifth link at a driven sixth joint configured to allow changes to an angle of the instrument axis relative to the fourth link axisa processor coupled to the manipulator,the processor being configured to: determine movements of the driven joints in response to receiving an input of a movement command to effect a desired movement of the instrument while the instrument extends within the access site during the desired movement of the distal end effector,determine desired movement of an intermediate portion of the arm assembly between the first joint and the instrument holder so as to (i) inhibit collisions between the manipulator and an adjacent arm, adjacent equipment, or adjacent personnel, and/or (ii) to increase a range of motion of the manipulator, and/or (iii) to avoid a joint limit or a singularity of a joint of the manipulator, anddetermine calculated movements of the driven joints that include a movement of the first joint to effect the desired movement of the intermediate portion of the arm assembly of the manipulator.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.