Phantom degrees of freedom for manipulating the movement of mechanical bodies
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B25J-013/00
A61B-034/37
B25J-009/16
A61B-034/35
출원번호
US-0003556
(2016-01-21)
등록번호
US-9861447
(2018-01-09)
발명자
/ 주소
Hourtash, Arjang M.
Au, Samuel Kwok Wai
Bonneau, Raymond A.
Diolaiti, Nicola
Hingwe, Pushkar
Kerdok, Amy E.
Turner, Michael
출원인 / 주소
Intuitive Surgical Operations, Inc.
대리인 / 주소
Schwegman Lundberg & Woessner, P.A.
인용정보
피인용 횟수 :
0인용 특허 :
15
초록▼
Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions
Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
대표청구항▼
1. A method of moving a surgical instrument, the method comprising: receiving an input for moving the surgical instrument, the surgical instrument being included in a mechanical assembly that includes a plurality of joints that correspond to a first set of degrees of freedom;generating, with a compu
1. A method of moving a surgical instrument, the method comprising: receiving an input for moving the surgical instrument, the surgical instrument being included in a mechanical assembly that includes a plurality of joints that correspond to a first set of degrees of freedom;generating, with a computer, desired joint states for the plurality of joints, the desired joint states being generated by applying the input to a forward-kinematic simulation of a kinematic model of the mechanical assembly, the kinematic model being characterized by a second set of degrees of freedom that includes the first set of degrees of freedom plus at least one additional degree of freedom for the surgical instrument, and the at least one additional degree of freedom for the surgical instrument being missing from the mechanical assembly; andmoving the surgical instrument by controlling the mechanical assembly in accordance with the desired joint states for the plurality of joints that correspond to the first set of degrees of freedom. 2. The method of claim 1, wherein the input for moving the surgical instrument corresponds to a translation value or an orientation value for a portion of the surgical instrument. 3. The method of claim 1, wherein the at least one additional degree of freedom for the surgical instrument corresponds to a translation or an orientation for a portion of the surgical instrument. 4. The method of claim 1, wherein the second set of degrees of freedom provides six kinematic degrees of freedom for the surgical instrument including three translational degrees of freedom and three rotational degrees of freedom, at least one of the six kinematic degrees of freedom for the surgical instrument being missing from the mechanical assembly. 5. The method of claim 1, wherein the at least one additional degree of freedom includes a roll rotation about a symmetric axis of the surgical instrument. 6. The method of claim 1, wherein the at least one additional degree of freedom includes two rotational degrees of freedom of the surgical instrument. 7. The method of claim 1, further comprising: determining an input for controlling the mechanical assembly by discarding values for the at least one additional degree of freedom from a result of the forward-kinematic simulation. 8. The method of claim 1, wherein the forward-kinematics simulation is implemented for at least one time step. 9. The method of claim 1, wherein the controlling of the mechanical assembly includes combining the desired joint state for a first joint of the plurality of joints with a value for an actual state of the first joint. 10. A surgical system comprising: a mechanical assembly including a surgical instrument and further including a plurality of joints that correspond to a first set of degrees of freedom;an input device operable to receive an input for moving the surgical instrument; anda controller including at least one processor configured to perform operations including: generating desired joint states for the plurality of joints, the desired joint states being generated by applying the input to a forward-kinematic simulation of a kinematic model of the mechanical assembly; the kinematic model being characterized by a second set of degrees of freedom that includes the first set of degrees of freedom plus at least one additional degree of freedom for the surgical instrument, and the at least one additional degree of freedom for the surgical instrument being missing from the mechanical assembly; andmoving the surgical instrument by controlling the mechanical assembly in accordance with the desired joint states for the plurality of joints that correspond to the first set of degrees of freedom. 11. The system of claim 10, wherein the input for moving the surgical instrument corresponds to a translation value or an orientation value for a portion of the surgical instrument. 12. The system of claim 10, wherein the at least one additional degree of freedom for the surgical instrument corresponds to a translation or an orientation for a portion of the surgical instrument. 13. The system of claim 10, wherein the second set of degrees of freedom provides six kinematic degrees of freedom for the surgical instrument including three translational degrees of freedom and three rotational degrees of freedom, at least one of the six kinematic degrees of freedom for the surgical instrument being missing from the mechanical assembly. 14. The system of claim 10; wherein the at least one additional degree of freedom includes a roll rotation about a symmetric axis of the surgical instrument. 15. The system of claim 10, wherein the at least one additional degree of freedom includes two rotational degrees of freedom of the surgical instrument. 16. The system of claim 10, wherein the controller determines an input for controlling the mechanical assembly by discarding values for the at least one additional degree of freedom from a result of the forward-kinematic simulation. 17. The system of claim 10, wherein the forward-kinematics simulation is implemented for at least one time step. 18. The system of claim 10, wherein the controlling of the mechanical assembly includes combining the desired joint state for a first joint of the plurality of joints with a value for an actual state of the first joint. 19. A computer-readable hardware storage device that stores a computer program for moving a surgical instrument, the computer program including instructions that, when executed by a computer, cause the computer to perform operations comprising: receiving an input for moving the surgical instrument, the surgical instrument being included in a mechanical assembly that includes a plurality of joints that correspond to a first set of degrees of freedom:generating desired joint states for the plurality of joints, the desired joint states being generated by applying the input to a forward-kinematic simulation of a kinematic model of the mechanical assembly, the kinematic model being characterized by a second set of degrees of freedom that includes the first set of degrees of freedom plus at least one additional degree of freedom for the surgical instrument, and the at least one additional degree of freedom for the surgical instrument being missing from the mechanical assembly; andmoving the surgical instrument by controlling the mechanical assembly in accordance with the desired joint states for the plurality of joints that correspond to the first set of degrees of freedom. 20. The computer-readable hardware storage device of claim 19, wherein the operations further comprise: determining an input for controlling the mechanical assembly by discarding values for the at least one additional degree of freedom from a result of the forward-kinematic simulation.
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이 특허에 인용된 특허 (15)
Gunter D. Niemeyer, Aspects of a control system of a minimally invasive surgical apparatus.
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.
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.
Hourtash, Arjang M.; Au, Samuel Kwok Wai; Bonneau, Raymond A.; Diolaiti, Nicola; Hingwe, Pushkar; Kerdok, Amy E.; Turner, Michael, Phantom degrees of freedom for manipulating the movement of mechanical bodies.
Hingwe, Pushkar; Au, Samuel Kwok Wai; Bonneau, Raymond A.; Diolaiti, Nicola; Hourtash, Arjang M.; Kerdok, Amy E.; Turner, Michael, Phantom degrees of freedom for manipulating the movement of surgical systems.
Au, Samuel Kwok Wai; Bonneau, Raymond A.; Diolaiti, Nicola; Hingwe, Pushkar; Hourtash, Arjang M.; Kerdok, Amy E.; Turner, Michael, Phantom degrees of freedom in joint estimation and control.
Au, Samuel Kwok Wai; Bonneau, Raymond A.; Diolaiti, Nicola; Hingwe, Pushkar; Hourtash, Arjang M.; Kerdok, Amy E.; Turner, Michael, Phantom degrees of freedom in joint estimation and control.
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.
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