Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms

Patent metadata

Field	Value
Publication number	US-10064682-B2
Application number	US-201514862692-A
Country	US
Kind code	B2
Filing date	Sep 23, 2015
Priority date	Dec 10, 2012
Publication date	Sep 4, 2018
Grant date	Sep 4, 2018

Abstract

A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

First claim

What is claimed is:

1. A movement control system comprising:
a controller comprising:
one or more processors; and
memory coupled to the one or more processors;

wherein:
the movement control system is coupled to a computer-assisted device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device separate from the computer-assisted device; and
the controller is configured to:
determine, based on at least one image of the working end received from the image capturing device, a pose of the working end in a common reference frame;
determine a first movable arm position and a first movable arm trajectory for the first movable arm in the common reference frame;
determine a second movable arm position and a second movable arm trajectory for the second movable arm in the common reference frame;
based on the first movable arm position, the first movable arm trajectory, the second movable arm position, and the second movable arm trajectory, determine whether motion of the first movable arm, motion of the second movable arm, or motions of the first and second movable arms together will result in an undesirable relationship between the first and second movable arms; and
send a first movement command to the first movable arm or the second movable arm to avoid the undesirable relationship.

2. The movement control system of claim 1 wherein:
the common reference frame is a reference frame of the image capturing device; and
the controller is further configured to determine the first movable arm position in the common reference frame further based on the pose of the working end in the common reference frame.

3. The movement control system of claim 1 , wherein:
the common reference frame is a reference frame of the computer-assisted device determined based on a pose of the working end; and
the controller is further configured to:
determine the second movable arm position in a reference frame of the image capturing device;
determine a position and an orientation of the working end in the reference frame of the image capturing device; and
transform the second movable arm position and the pose of the working end from the reference frame of the image capturing device to the common reference frame.

4. The movement control system of claim 1 , wherein:
the at least one image of the working end comprises a plurality of two-dimensional images from the image capturing device; and
the controller is further configured to determine the pose of the working end from the two-dimensional images even when the working end of the manipulatable device is occluded by one or more objects disposed between the image capturing device and the working end of the manipulatable device.

5. The movement control system of claim 1 , further comprising:
a viewer adapted to display a second image of a work space of the working end of the manipulatable device; and
an input unit configured to receive information of a user specified region of interest within the second image being displayed on the viewer;
wherein the controller is further configured to send second movement commands to the second movable arm so that the image capturing device captures images of the user specified region of interest.

6. The movement control system of claim 1 , wherein the controller determines the first movable arm position and the first movable arm trajectory based on sensed positions of joints of the first movable arm and known geometries of the joints and links of the first movable arm.

7. The movement control system of claim 1 , wherein the controller determines the second movable arm position and the second movable arm trajectory based on sensed positions of joints of the second movable arm and known geometries of the joints and links of the second movable arm.

8. The movement control system of claim 1 , wherein:
the first movable arm has redundant degrees of freedom so that for each controllable pose of the working end of the manipulatable device there are a first plurality of possible positions and orientations for the first movable arm;
the second movable arm has redundant degrees of freedom so that for each controllable position and orientation of the image capturing device there are a second plurality of possible positions and orientations for the second movable arm; and
the first movement command sent to the first movable arm or the second movable arm directs the first movable arm to move to one of the first plurality of possible positions and orientations or directs the second movable arm to move to one of the second plurality of possible positions and orientations that avoid the undesirable relationship.

9. The movement control system of claim 8 , wherein the controller is further configured to:
determine which one of the first movable arm and the second movable arm is to be sent the first movement command based on differences between the first movable arm position and the first plurality of possible positions and orientations and differences between the second movable arm position and the second plurality of possible positions and orientations; and
the determination of which one of the first movable arm and the second movable arm is to be sent the first movement command is made so as to minimize a cost function.

10. The movement control system of claim 9 , wherein the cost function is based on an inverse square of a minimum distance between the first movable arm and the second movable arm.

11. The movement control system of claim 9 , wherein the cost function is based on an average of an inverse square of distances between links of the first movable arm and links of the second movable arm.

12. The movement control system of claim 9 , wherein the cost function is based on virtual potential fields applied to first links and first joints of the first movable arm and second links and second joints of the second movable arm.

13. The movement control system of claim 1 , wherein the undesirable relationship is selected from a group consisting of a collision between the first movable arm and the second movable arm, too close a proximity between the first movable arm and the second movable arm, and obstruction of a region of interest of the image capturing device by the first movable arm.

14. A method of controlling movement in a medical system, the method comprising:
determining, based on at least one image of a working end of a manipulatable device coupled to a first articulated arm of a computer-assisted device, a pose of the working end in a common reference frame;
determining, based on first configurations of the first articulated arm, a first arm position and a first arm trajectory for the first articulated arm in the common reference frame;
determining, based on second configurations of a second articulated arm of an image capturing device separate from the computer-assisted device, a second arm position and a second arm trajectory for the second articulated arm in the common reference frame;
based on the first arm position, the first arm trajectory, the second arm position, and the second arm trajectory, determining whether motion of the first articulated arm, motion of the second articulated arm, or motions of the first and second articulated arms together will result in an undesirable relationship between the first and second articulated arms; and
sending a first movement command to the first articulated arm or the second articulated arm to avoid the undesirable relationship.

15. The method of claim 14 , wherein:
the common reference frame is a r

Assignees

• Intuitive Surgical Operations

Inventors

• Azizian Mahdi
• Sorger Jonathan
• Blohm Lutz
• Niebler Christine
• Kunze Holger

Classifications

• Y10S901/47

  Optical · CPC title

• A61B6/4458

  the source unit or the detector unit being attached to robotic arms · CPC title

• A61B2090/378

  using ultrasound · CPC title

• A61B6/4441

  the rigid structure being a C-arm or U-arm · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title