System and method for aligning with a reference target

Patent metadata

Field	Value
Publication number	US-10610316-B2
Application number	US-201816052555-A
Country	US
Kind code	B2
Filing date	Aug 1, 2018
Priority date	Mar 17, 2014
Publication date	Apr 7, 2020
Grant date	Apr 7, 2020

Abstract

A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

First claim

What is claimed is:

1. A computer-assisted medical device comprising:
a first link;
one or more first joints coupled proximally to the first link;
an articulated arm comprising one or more second joints coupled distally to the first link, the articulated arm configured to couple to an instrument; and
a control unit, wherein the control unit is configured to:
position or orient the first link, using the one or more first joints, based on at least one reference of the instrument selected from a group consisting of: a reference point associated with the instrument and a reference orientation of the instrument; and
maintain, while positioning or orienting the first link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

2. The computer-assisted medical device of claim 1 , wherein the control unit is further configured to:
both position and orient the first link, using the one or more first joints, based on both the reference point associated with the instrument and the reference orientation of the instrument; and
maintain, while positioning and orienting the first link, both the position and the orientation of the instrument relative to the workspace in accordance with the reference point and the reference orientation.

3. The computer-assisted medical device of claim 1 , wherein the first link is an orientation platform, wherein the reference point is a remote center of the instrument, and wherein the instrument comprises an imaging device.

4. The computer-assisted medical device of claim 1 , wherein the control unit is further configured to:
unlock, while positioning or orienting the first link, at least one of the one or more second joints.

5. The computer-assisted medical device of claim 4 , wherein the control unit is further configured to:
lock, while positioning or orienting the first link, at least one other joint of the one or more second joints.

6. The computer-assisted medical device of claim 1 , further comprising:
an additional articulated arm coupled distally to the first link, the additional articulated arm comprising a third joint,
wherein the control unit is further configured to: place, while positioning or orienting the first link, the third joint in a float state.

7. The computer-assisted medical device of claim 6 , wherein the control unit is configured to place the third joint in the float state by: at least partially releasing a brake associated with the third joint.

8. The computer-assisted medical device of claim 6 , wherein the control unit is further configured to:
command, when the third joint is in the float state, the third joint to an actual position or an actual velocity of the third joint.

9. The computer-assisted medical device of claim 6 , wherein the control unit is further configured to:
command, when the third joint is in the float state, the third joint to a position between an actual position and a commanded position of the third joint, or to a velocity lower than an actual velocity of the third joint.

10. The computer-assisted medical device of claim 6 , wherein the control unit is configured to place the third joint in the float state while positioning or orienting the first link by: introducing a resisting force or torque on the third joint.

11. The computer-assisted medical device of claim 1 , wherein the control unit is further configured to:
adjust a distance between the first link and the reference point to maintain a sterile field or to maintain a working height of the first link above the reference point.

12. The computer-assisted medical device of claim 1 , wherein the reference point is associated with a point on patient anatomy through which the instrument is inserted.

13. The computer-assisted medical device of claim 1 , wherein the control unit is configured to position the first link using the one or more first joints based on the reference point associated with the instrument by:
positioning a centroid of the first link vertically above the reference point; or
positioning a rotational center of the first link vertically above the reference point.

14. A method of controlling motion in a computer-assisted medical device, the method comprising:
positioning or orienting, by one or more processors, a first link of the computer-assisted medical device, using one or more first joints proximal to the first link, based on at least one reference of an instrument coupled to an articulated arm of the computer-assisted medical device, the articulated arm comprising one or more second joints coupled distally to the first link, the at least one reference of the instrument being selected from a group consisting of: a reference point associated with the instrument and a reference orientation of the instrument; and
maintaining, by the one or more processors and while positioning or orienting the first link by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

15. The method of claim 14 , further comprising:
both positioning and orienting the first link, using the one or more first joints, based on both the reference point associated with the instrument and the reference orientation of the instrument; and
maintaining, while positioning and orienting the first link, both the position and the orientation of the instrument relative to the workspace in accordance with the reference point and the reference orientation.

16. The method of claim 14 , wherein the first link is an orientation platform, wherein the reference point is a remote center of the instrument, and wherein the instrument comprises an imaging device.

17. The method of claim 14 , further comprising:
unlocking, while positioning or orienting the first link, at least one of the one or more second joints.

18. The method of claim 17 , further comprising:
locking, while positioning or orienting the first link, at least one other joint of the one or more second joints.

19. The method of claim 14 , further comprising:
placing, while positioning or orienting the first link, a third joint of an additional articulated arm distal to the first link in a float state.

20. The method of claim 14 , further comprising:
adjusting a distance between the first link and the reference point to maintain a sterile field or maintain a working height of the first link above the reference point.

21. The method of claim 14 , wherein the reference point is associated with a point on patient anatomy through which the instrument is inserted.

Assignees

• Intuitive Surgical Operations

Inventors

• Swarup Nitish
• Griffiths Paul G
• Itkowitz Brandon D
• Hanuschik Michael
• Nixon Thomas R

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2034/304

  including a freely orientable platform, e.g. so called 'Stewart platforms' · CPC title

• B25J9/1607

  Calculation of inertia, jacobian matrixes and inverses · CPC title

• A61B2017/00017

  Electrical control of surgical instruments · CPC title

• A61B2034/305

  Details of wrist mechanisms at distal ends of robotic arms · CPC title