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-034/37
A61B-034/00
A61B-001/00
B25J-009/16
출원번호
US-0359405
(2016-11-22)
등록번호
US-9949801
(2018-04-24)
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.
대리인 / 주소
Schwegman Lundberg & Woessner, P.A.
인용정보
피인용 횟수 :
0인용 특허 :
47
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 method for moving a manipulator arm, the manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint
1. A method for moving a manipulator arm, the manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion, the method comprising: receiving a reconfiguration command while the distal portion is in a desired state, the reconfiguration command being for a reconfiguration movement of a first portion of the manipulator arm between the base and the distal portion 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;calculating joint velocities for a first movement of a first set of joints of the plurality of joints in accordance with the reconfiguration movement of the first portion of the manipulator arm in response to the reconfiguration command;calculating joint velocities for a second movement of one or more joints of the plurality of joints in response to the reconfiguration command so that a combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints corresponds to a joint-velocity direction that maintains the desired state of the distal portion; anddriving the plurality of joints according to the calculated joint velocities for the first movement in combination with the calculated joint velocities for the second movement so as to maintain the desired state of the distal portion during the reconfiguration movement of the first portion of the manipulator arm. 2. The method of claim 1, wherein the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm. 3. The method of claim 1, wherein the first set of joints of the plurality of joints does not overlap with the one or more joints of the plurality of joints. 4. The method of claim 1; wherein the desired state of the distal portion includes a distal portion position, orientation, or velocity relative to the base. 5. The method of claim 1, wherein the reconfiguration command is received through an input device disposed on the manipulator arm. 6. The method of claim 1, further comprising: receiving a manipulation command prior to the reconfiguration command to move the distal portion from an initial state to the desired state;calculating joint velocities of the plurality of joints for a distal portion displacing movement in accordance with the manipulation command, the joint velocities for the distal portion displacing movement corresponding to joint-velocity directions that correspond to the distal portion in motion; anddriving the plurality of joints according to the calculated joint velocities for the distal portion displacing movement so as to move the distal portion from the initial state to the desired state. 7. The method of claim 6, wherein the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm; andthe joint velocities for the distal portion displacing movement lie within a null-perpendicular space of the Jacobian, the null-perpendicular space being orthogonal to the null space. 8. The method of claim 6, wherein each of the first set of joints is not driven to effect the distal portion displacing movement. 9. A system comprising: a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion;an input device adapted to receive a reconfiguration command while the distal portion is in a desired state, the reconfiguration command being for a reconfiguration movement of a first portion of the manipulator arm between the base and the distal portion 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; anda processor coupled to the input device and the manipulator arm, the processor being configured to perform operations including: calculating joint velocities for a first movement of a first set of joints of the plurality of joints in accordance with the reconfiguration movement of the first portion of the manipulator arm in response to the reconfiguration command;calculating joint velocities for a second movement of one or more joints of the plurality of joints in response to the reconfiguration command so that a combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints corresponds to a joint-velocity direction that maintains the desired state of the distal portion; andtransmitting a command to the manipulator arm to drive the plurality of joints according to the calculated joint velocities for the first movement in combination with the calculated joint velocities for the second movement so as to maintain the desired state of the distal portion during the reconfiguration movement of the first portion of the manipulator arm. 10. The system of claim 9, wherein the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm. 11. The system of claim 9, wherein the first set of joints of the plurality of joints does not overlap with the one or more joints of the plurality of joints. 12. The system of claim 9, wherein the desired state of the distal portion includes a distal portion position, orientation, or velocity relative to the base. 13. The system of claim 9, wherein the input device is disposed on the manipulator ami. 14. The system of claim 9, further comprising a manipulation input device adapted to receive a manipulation command prior to the reconfiguration command to move the distal portion from an initial state to the desired state, wherein the processor is further configured to perform operations including: calculating joint velocities of the plurality of joints for a distal portion displacing movement in accordance with the manipulation command, the joint velocities for the distal portion displacing movement corresponding to joint-velocity directions that correspond to the distal portion in motion; andtransmitting a command to the manipulator arm to drive the plurality of joints according to the calculated joint velocities for the distal portion displacing movement so as to move the distal portion from the initial state to the desired state. 15. The system of claim 14, wherein the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm; andthe joint velocities for the distal portion displacing movement lie within a null-perpendicular space of the Jacobian, the null-perpendicular space being orthogonal to the null space. 16. The system of claim 14, wherein each of the first set of joints is not driven to effect the distal portion displacing movement. 17. A memory unit that stores instructions for moving a manipulator arm when executed by a processor, the manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion, and the instructions causing the processor to perform operations including: receiving a reconfiguration command while the distal portion is in a desired state, the reconfiguration command being for a reconfiguration movement of a first portion of the manipulator arm between the base and the distal portion 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;calculating joint velocities for a first movement of a first set of joints of the plurality of joints in accordance with the reconfiguration movement of the first portion of the manipulator arm in response to the reconfiguration command;calculating joint velocities for a second movement of one or more joints of the plurality of in response to the reconfiguration command so that a combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints corresponds to a joint-velocity direction that maintains the desired state of the distal portion; anddriving the plurality of joints according to the calculated joint velocities for the first movement in combination with the calculated joint velocities for the second movement so as to maintain the desired state of the distal portion during the reconfiguration movement of the first portion of the manipulator arm. 18. The memory unit of claim 17, wherein the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm. 19. The memory unit of claim 17, wherein the first set of joints of the plurality of joints does not overlap with the one or more joints of the plurality of joints. 20. The memory unit of claim 17, wherein the desired state of the distal portion includes a distal portion position, orientation, or velocity relative to the base.
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