Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06F-019/00
A61B-019/00
출원번호
US-0906767
(2013-05-31)
등록번호
US-9517106
(2016-12-13)
발명자
/ 주소
Hourtash, Arjang M.
Mohr, Paul W.
Hingwe, Pushkar
Millman, Paul
Schena, Bruce Michael
Devengenzo, Roman L.
Luke, Scott
출원인 / 주소
Intuitive Surgical Operations, Inc.
인용정보
피인용 횟수 :
2인용 특허 :
46
초록▼
Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of
Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
대표청구항▼
1. A robotic system comprising: a manipulator arm configured for robotically moving a distal portion relative to a proximal base, the manipulator arm having a plurality of joints between the distal portion and a proximal portion coupled to the proximal base, the plurality of joints providing suffici
1. A robotic system comprising: a manipulator arm configured for robotically moving a distal portion relative to a proximal base, the manipulator arm having a plurality of joints between the distal portion and a proximal portion coupled to the proximal base, the plurality of joints providing sufficient degrees of freedom to allow a range of joint states of the plurality of joints for a given state of the distal portion;an input device configured for receiving a reconfiguration command to move a first one or more joints of the plurality of joints for a desired reconfiguration movement of a first portion of the manipulator arm between the proximal base and the distal portion so as to maintain a desired state of the distal portion in combination with the reconfiguration movement of the first portion of the manipulator arm; anda processor coupling the input device to the manipulator arm, the processor being configured to calculate, in response to the reconfiguration command, velocities of the plurality of joints for a first movement of the plurality of joints to move the first one or more joints of the plurality of joints in accordance with the reconfiguration command, the calculated velocities of the plurality of joints being within a null-space of a Jacobian of the manipulator arm and including a component corresponding to the first one or more joints of the plurality of joints, and the processor being further configured to drive the plurality of joints according to the first movement so as to maintain the desired state of the distal portion in combination with the reconfiguration movement of the first portion of the manipulator arm. 2. The robotic system of claim 1 further comprising: an input device for receiving a manipulation command to move the distal portion for a desired distal portion movement, wherein the processor is further configured to calculate a distal portion displacing movement of the plurality of joints in response to the manipulation command, wherein the calculating of the distal portion displacing movement of the plurality of joints comprises calculating joint velocities within a null-perpendicular-space of the Jacobian, the null-perpendicular-space being orthogonal to the null-space, and wherein the processor is further configured to drive the plurality of joints according to the calculated distal portion displacing movement of the plurality of joints so as to effect the desired distal portion movement. 3. The robotic system of claim 2, wherein the processor is further configured to calculate the distal portion displacing movement of the plurality of joints so that the first one or more joints are not driven. 4. The robotic system of claim 2, wherein the processor is further configured to calculate the first movement of the plurality of joints so that the first one or more joints are not driven to effect the distal portion displacing movement of the plurality of joints. 5. The robotic system of claim 1, wherein the processor is further configured to calculate the first movement of the plurality of joints so that a movement of a first joint of the first one or more joints provides a substantially constant speed of the first joint for a duration of the first movement. 6. The robotic system of claim 1, wherein the input device for receiving the reconfiguration command is disposed on a portion of the manipulator arm such that entering the reconfiguration command with the input device drives a joint of the plurality of joints adjacent the portion of the manipulator arm on which the input device is disposed so as to move the portion of the manipulator arm on which the input device is disposed. 7. The robotic system of claim 1, wherein the input device for receiving the reconfiguration command comprises a button cluster, and wherein the button cluster comprises a plurality of buttons, each button of the plurality of buttons corresponding to a different joint of the plurality of joints. 8. The robotic system of claim 1, wherein the input device for receiving the reconfiguration command comprises a joystick configured such that two or more of the plurality of joints are selectively driveable by movement of the joystick. 9. The robotic system of claim 2, further comprising a user interface that includes a surgeon console and a patient side cart, wherein the input device for receiving the reconfiguration command and the input device for receiving the manipulation command are configured so that each is disposed on one of the patient side cart or the surgeon console. 10. The robotic system of claim 1, wherein the proximal portion of the manipulator arm is coupled to the proximal base by a first joint from the first one or more joints. 11. The robotic system of claim 1, wherein the proximal portion of the manipulator arm is coupled to the proximal base by a first joint of the plurality of joints such that the proximal portion of the manipulator arm is moveable relative to the proximal base while joints are driven according to the reconfiguration movement. 12. The robotic system of claim 10, wherein the first joint is a revolute joint that supports the plurality of joints of the manipulator arm such that joint movement of the revolute joint pivots one or more joints of the plurality of joints about a pivotal axis of the revolute joint, the pivotal axis extending from the revolute joint through the distal portion. 13. The robotic system of claim 12, wherein joint movement of the revolute joint pivots one or more joints of the plurality of joints about an axis oriented towards a remote center of motion. 14. The robotic system of claim 11, wherein the first joint is moveable relative to the base along an arcuate or substantially circular path such that movement of the first joint along the path pivots one or more joints of the plurality of joints about an axis extending through a remote center of motion. 15. The robotic system of claim 1, wherein the distal portion comprises a surgical instrument having an elongate shaft extending distally to a surgical end effector, wherein the shaft pivots about a remote center of motion during surgery, and wherein the movement of the plurality of joints is calculated so as to maintain a position of the shaft at the remote center of motion in combination with the reconfiguration movement of the first portion of the manipulator arm. 16. The robotic system of claim 1, wherein the distal portion is configured to support a surgical instrument having an elongate shaft extending distally to a surgical end effector, wherein the shaft pivots about a remote center of motion during surgery, and wherein the movement of the plurality of joints is calculated so as to maintain a position of the shaft at the remote center of motion in combination with the reconfiguration movement of the first portion of the manipulator arm. 17. The robotic system of claim 1, wherein the distal portion comprises a tool, the tool including an intermediate portion extending along an insertion axis distally from the proximal portion and an end effector at a distal end of the intermediate portion, wherein two or more of the plurality of joints mechanically constrain movement of the distal portion relative to the proximal base such that movement of the end effector at a work site is facilitated as the distal portion of the manipulator arm pivots about a remote center of motion located along the insertion axis. 18. The robotic system of claim 1, wherein the distal portion is configured to support a tool, the tool including an intermediate portion extending along an insertion axis distally from the proximal portion and an end effector at a distal end of the intermediate portion, wherein two or more of the plurality of joints mechanically constrain movement of the distal portion relative to the proximal base such that movement of the end effector at a work site is facilitated as the distal portion of the manipulator arm pivots about a remote center of motion located along the insertion axis. 19. The robotic system of claim 1, wherein the desired state of the distal portion comprises at least one of a position, orientation, or velocity relative to the proximal base. 20. The robotic system of claim 1, wherein the distal portion comprises an end effector relative to a proximal base;the manipulator arm comprises a plurality of links that are kinematically joined by one or more joints of the plurality of joints; andthe first movement of the plurality of joints moves at least one link of the plurality of links for the desired reconfiguration movement of the first portion of the manipulator arm between the proximal base and the distal portion comprising the end effector. 21. The robotic system of claim 20 further comprising: an input device for receiving a manipulation command to move the end effector for a desired end effector movement, the input device being disposed on a user interface, wherein the processor is further configured to calculate an end effector displacing movement of the plurality of links in response to the manipulation command, wherein calculating the end effector displacing movement of the plurality of links comprises calculating joint velocities within a null-perpendicular-space of the Jacobian, the null-perpendicular-space being orthogonal to the null-space, and wherein the processor is further configured to drive the one or more joints kinematically coupling the plurality of links according to the calculated end effector displacing movement of the plurality of links to effect the desired end effector movement. 22. The robotic system of claim 20, wherein a first link of the plurality of links of the manipulator arm is joined to the proximal base by a joint such that the first link is moveable relative to the proximal base while the links are moved according to the reconfiguration movement. 23. The robotic system of claim 22, wherein the joint coupling the first link to the base is a revolute joint that supports the one or more joints of the manipulator arm such that joint movement of the revolute joint pivots one or more links of plurality of links of the manipulator arm about a pivotal axis of the revolute joint, the pivotal axis extending from the revolute joint toward the end effector. 24. The robotic system of claim 20, wherein the desired state of the distal portion comprises at least one of a position, orientation, or velocity relative to the proximal base for the end effector included in the distal portion. 25. The robotic system of claim 1, wherein the distal portion includes a surgical instrument having a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion having an insertion axis therebetween;the manipulator arm is configured to support the proximal end of the surgical instrument so as to pivot the surgical instrument from outside the patient, wherein the plurality of joints comprises remote center joints configured to mechanically constrain movement of the surgical instrument included in distal portion to pivot about a remote center pivot point along the insertion axis and adjacent to a minimally invasive aperture; andthe first movement of the plurality of joints maintains the intermediate portion at the pivot point in combination with the reconfiguration movement of the first portion of the manipulator arm, the maintenance of the intermediate portion at the pivot point corresponding to the desired state of the distal portion. 26. The robotic system of claim 25 further comprising: an input device for receiving a manipulation command to move the end effector for a desired end effector movement, the input device for receiving the manipulation command being disposed on a user interface and being separate from the input device for receiving the reconfiguration command, wherein the processor is further configured to calculate an end effector displacing movement of the plurality of joints in response to the manipulation command, wherein calculating end effector displacing movement of the plurality of joints comprises calculating joint velocities within a null-perpendicular-space of the Jacobian, the null-perpendicular-space being orthogonal to the null-space, and wherein the processor is further configured to drive the plurality of joints according to the calculated end effector displacing movement of the plurality of joints to effect the desired end effector movement and maintain the intermediate portion at the pivot point. 27. The robotic system of claim 26, wherein the processor is further configured to calculate joint movement so that the first one or more joints of the plurality of joints is not driven when calculating the end effector displacing movement of the plurality of joints. 28. The robotic system of claim 25, wherein the processor is further configured to calculate joint movement so that a first joint from the first one or more joints of the plurality of joints provides a substantially constant speed of the first joint for a duration of the reconfiguration command. 29. The robotic system of claim 25, wherein the input device for receiving the reconfiguration command is disposed on a portion of the manipulator arm such that entering a command with the input device drives an adjacent joint so as to move the portion of the manipulator arm on which the input device is located. 30. The robotic system of claim 25, wherein the input device for receiving the reconfiguration command comprises a button cluster, wherein the button cluster comprises a plurality of buttons, each button corresponding to a different joint of the plurality of joints. 31. The robotic system of claim 25, wherein the input device for receiving the reconfiguration command comprises a joystick such that the plurality of joints are selectively driveable by movement of the joystick. 32. The robotic system of claim 25, wherein a proximal portion of the manipulator arm is coupled to the proximal base by a first joint of the one or more joints. 33. The robotic system of claim 32, wherein the first joint is a revolute joint that supports the plurality of joints of the manipulator arm such that joint movement of the revolute joint pivots one or more joints of the plurality of joints about a pivotal axis of the revolute joint, the pivotal axis extending from the revolute joint through the remote center pivot point. 34. The robotic system of claim 25, wherein the desired state of the distal portion comprises at least one of a position, orientation, or velocity relative to the proximal base for the intermediate portion of the surgical instrument included in the distal portion. 35. The robotic system of claim 1, wherein the distal portion includes a surgical instrument having a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion extending along an insertion axis therebetween;the manipulator arm is configured to support the proximal end of the surgical instrument so as to move the surgical instrument from outside the patient so that the intermediate portion pivots about a remote center, wherein the manipulator arm includes a plurality of links that are kinematically joined by the plurality of joints, some of the plurality of links comprising remote center links coupled together by remote center joints configured to mechanically constrain movement of the insertion axis to a rotation about first and second remote center axes traversing the insertion axis extending through the remote center;the first movement of the plurality of joints moves at least one link of the plurality of links for the desired reconfiguration movement of the first portion of the manipulator arm between the proximal base and the distal portion, the input device being coupled with the manipulator so that the plurality of joints are driven in accordance with the desired reconfiguration movement in response to the reconfiguration command while maintaining a desired state of the surgical instrument included in the distal portion, wherein driving the plurality of joints pivotally moves the insertion axis of the surgical instrument supported by the distal portion about a first set of joint axes, the first set of joint axes traversing the insertion axis through the remote center, and the first set of joint axes being angularly offset from the first and second remote center axes. 36. The robotic system of claim 35, wherein the processor is configured to calculate a reconfiguration movement of the plurality of links within the null-space of the Jacobian of the manipulator arm in response to a reconfiguration command for the plurality of links. 37. The robotic system of claim 36 further comprising: an input device for receiving a manipulation command to move the end effector for a desired end effector movement, the input device for receiving the manipulation command being disposed on a user interface and being separate from the input device for receiving the reconfiguration command;wherein the processor is further configured to calculate an end effector displacing movement of the plurality of links in response to the manipulation command, wherein calculating end effector displacing movement of the plurality of links comprises calculating velocities of the plurality of joints within a null-perpendicular-space of the Jacobian, the null-perpendicular-space being orthogonal to the null-space, and wherein the processor is further configured to move the plurality of links according to the calculated end effector displacing movement by driving one or more of the plurality of joints kinematically coupling the links to effect the desired end effector movement. 38. The robotic system of claim 36, wherein the user interface comprises a surgeon console and a patient side cart, the input device for the manipulation command being disposed on the surgeon console and the input device for the reconfiguration command being disposed on the patient side cart. 39. The robotic system of claim 36, wherein the user interface comprises a surgeon console and a patient side cart, the input device for the manipulation command being disposed on the surgeon console and the input device for the reconfiguration command being disposed on the surgeon console. 40. The robotic system of claim 36, wherein the user interface comprises a surgeon console and a patient side cart, the input device for the manipulation command being disposed on the patient side cart and the input device for the reconfiguration command being disposed on the patient side cart. 41. The robotic system of claim 35, wherein a proximal portion of the manipulator arm is coupled to the proximal base by a joint such that the proximal portion of the manipulator arm is moveable relative to the proximal base when the links are moved according to the reconfiguration movement. 42. The robotic system of claim 41, wherein the joint coupling the proximal portion to the base is a revolute joint that supports the links of the manipulator arm such that joint movement of the revolute joint pivots one or more of the plurality of links of the manipulator arm about a pivotal axis of the revolute joint, the pivotal axis extending from the revolute joint toward the remote center. 43. The robotic system of claim 35, wherein the desired state of the distal portion comprises at least one of a position, orientation, or velocity relative to the proximal base for the intermediate portion of the surgical instrument included in the distal portion.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (46)
Woo Sik Yoo ; Hiromitsu Kuribayashi JP, Adjustable joint for a positionable arm.
Gunter D. Niemeyer ; Gary S. Guthart ; William C. Nowlin ; Nitish Swarup ; Gregory K. Toth ; Robert G. Younge, Camera referenced control in a minimally invasive surgical apparatus.
Strayer Larry G. (10300 Strafford Lane Chatsworth CA 91311 4), Computer system to prevent collision between moving objects such as aircraft moving from one sector to another.
Ohm Timothy ; Boswell Curtis ; Das Hari ; Paljug Eric ; Rodriguez Guillermo ; Schenker Paul ; Lee Sukhan ; Barlow Ed ; Charles Steve, Decoupled six degree-of-freedom robot manipulator.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanzides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) T, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Bernhardt,Philipp; Boese,Jan; Pfister,Marcus; Rahn,Norbert, Medical imaging system with a part which can be moved about a patient and a collision protection method.
Wang,Yulun; Uecker,Darrin; Laby,Keith P.; Wilson,Jeff D.; Jordan,Charles S.; Wright,James W.; Ghodoussi,Modjtaba, Medical robotic arm that is attached to an operating table.
Megherbi Dalila (106 E. Manning St. ; #1C Providence RI 02906), Method and apparatus for controlling robot motion at and near singularities and for robot mechanical design.
Wang Yulun ; Uecker Darrin R. ; Jordan Charles S. ; Wright James W. ; Laby Keith Phillip ; Wilson Jeff D., Method and apparatus for performing minimally invasive cardiac procedures.
Wang, Yulun; Uecker, Darrin; Laby, Keith P.; Wilson, Jeff D.; Jordan, Charles S.; Wright, James W.; Ghodoussi, Modjtaba, Method and apparatus for performing minimally invasive surgical procedures.
Stark Johan S. H. (Stockholm SEX), Method for preventing collision of two mutually movable bodies and an apparatus including an arrangement for preventing.
Watanabe Atsushi (Minamitsuru JPX) Terawaki Fumikazu (Minamitsuru JPX) Warashina Fumikazu (Minamitsuru JPX), Method of setting a second robots coordinate system based on a first robots coordinate system.
Cheng,Chieh C.; Lesyna,David A.; Moyers,Michael F., Path planning and collision avoidance for movement of instruments in a radiation therapy environment.
Philip C. Evans ; Frederic H. Moll ; Gary S. Guthart ; William C. Nowlin ; Rand P. Pendleton ; Christopher P. Wilson ; Andris D. Ramans ; David J. Rosa ; Volkmar Falk ; Robert G. Younge, Performing cardiac surgery without cardioplegia.
William C. Nowlin ; Gary S. Guthart ; J. Kenneth Salisbury, Jr. ; Gunter D. Niemeyer, Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery.
Nowlin, William C.; Mohr, Paul W; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary, Software center and highly configurable robotic systems for surgery and other uses.
Tierney Michael J. ; Cooper Thomas G. ; Julian Chris A. ; Blumenkranz Stephen J. ; Guthart Gary S. ; Younge Robert G., Surgical robotic tools, data architecture, and use.
Parker Niall R. (Abbotsford CAX) Lawrence Peter D. (Vancouver CAX) Salcudean Septimiu E. (Vancouver CAX), Velocity controller with force feedback stiffness control.
Schena, Bruce Michael; Devengenzo, Roman L.; Ettinger, Gary C.; Duval, Eugene F.; Diolaiti, Nicola; Gomez, Daniel H., Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator.
Hourtash, Arjang M.; Mohr, Paul W.; Hingwe, Pushkar; Millman, Paul; Schena, Bruce Michael; Devengenzo, Roman L.; Luke, Scott, Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.