Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools

Patent metadata

Field	Value
Publication number	US-12076099-B2
Application number	US-202117368221-A
Country	US
Kind code	B2
Filing date	Jul 6, 2021
Priority date	Jul 6, 2021
Publication date	Sep 3, 2024
Grant date	Sep 3, 2024

Abstract

For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.

First claim

We claim:

1. A method for teleoperation of a surgical robotic system, the method comprising:
receiving a user command to move a surgical tool mounted to a robotic arm, the user command including rotation of the surgical tool where the surgical tool is rotatable only in less than three degrees of freedom;
solving for motion from the user command with inverse kinematics, the solving having a projection from the user command to feasible motion based on the less than three degrees of freedom, wherein solving comprises solving with a rotation selection matrix in the projection, the rotation selection matrix being in an end effector coordinate system of the surgical tool and indicating feasible and not feasible rotations; and
moving the robotic arm or surgical tool based on a solution from the solving.

2. The method of claim 1 wherein receiving comprises receiving the user command where the surgical tool is rotatable in only one degree of freedom.

3. The method of claim 1 wherein solving comprises solving with the projection restricting to feasible rotations.

4. The method of claim 1 wherein solving comprises solving with minimization that includes the projection, the solving being with a least square for the minimization.

5. The method of claim 1 wherein receiving comprises receiving the user command with rotation in three degrees of freedom where the surgical tool is only rotatable in one or two degrees of freedom.

6. The method of claim 1 wherein the surgical tool has a single degree of freedom for the rotation, and wherein solving comprises solving with the rotation selection matrix in the projection, the rotation selection matrix comprising a 3×3 matrix with zeros for all entries but one, the one entry corresponding to the single degree of freedom of the rotation of the surgical tool.

7. The method of claim 1 wherein the surgical tool has only two degrees of freedom for the rotation, and wherein solving comprises solving with the rotation selection matrix in the projection, the rotation selection matrix comprising a 3×3 matrix with zeros for all entries but two, the two entries corresponding to the two degrees of freedom of the rotation of the surgical tool.

8. The method of claim 1 wherein solving comprises solving in a control frame different than the end effector coordinate system by multiplication of the rotation selection matrix with a Jacobian of the inverse kinematics.

9. A method for teleoperation of a surgical robotic system, the method comprising:
receiving a user command to move a surgical tool mounted to a robotic arm, the user command including rotation of the surgical tool where the surgical tool is rotatable only in less than three degrees of freedom;
solving for motion from the user command with inverse kinematics, the solving having a projection from the user command to feasible motion based on the less than three degrees of freedom, wherein solving comprises weighting the feasible motion with a weight of 1 and infeasible motion with a weight of 0; and
moving the robotic arm or surgical tool based on a solution from the solving.

10. A method for accounting for a limited degree of freedom of a tool in a surgical robotic system, the method comprising:
minimizing a difference between a change in joint position of the surgical robotic system and a change in pose of an end effector of the tool, the minimizing providing the change in the joint position given the change in pose;
weighting the difference in the minimizing with a matrix distinguishing feasible and infeasible poses of the end effector of the tool based on the limited degrees of freedom; and
controlling the surgical robotic system based on the change in the joint position.

11. The method of claim 10 wherein minimizing comprises performing inverse kinematics as a least square minimization.

12. The method of claim 10 further comprising receiving a user input command from a user interface, the change in pose of the end effector being provided as the user input command, where the user input command is free of the limited degree of freedom of the tool and the weighting with the matrix prevents the changes in position for infeasible poses.

13. The method of claim 10 wherein weighting comprises weighting the difference with a projection operator projecting to the limited degree of freedom, the matrix being part of the projection operator.

14. The method of claim 10 wherein the limited degree of freedom is a limitation in rotation of the tool, and wherein weighting comprises weighting with the matrix, the matrix having binary weights for rotation with 1 for feasible rotation and 0 for infeasible rotation.

15. A surgical robotic system for medical teleoperation, the surgical robotic system comprising:
a robotic arm;
a first surgical instrument connected to the robotic arm, where an end effector of the first surgical instrument as connected to the robotic arm cannot rotate about at least one axis; and
a controller configured to solve for motion of the first surgical instrument during the medical teleoperation on a patient and in response to user input of a move command, the solution being with inverse kinematics, the inverse kinematics including a projection of the user input from a higher dimensional space to a lower dimensional space that accounts for the lack of rotation about the at least one axis, wherein the projection comprises a selection matrix for rotation of the end effector, the selection matrix distinguishing permitted and not permitted rotations of the end effector in an end effector space.

16. The surgical robotic system of claim 15 wherein the inverse kinematics is a least square minimization of a difference between the motion of the first surgical instrument and a change from the user input, the change of the user input being for motion of the end effector, and wherein the projection comprises a projection of the user input with a greater degree of freedom to the motion of the first surgical instrument with a lesser degree of freedom.

17. The surgical robotic system of claim 15 wherein the solution is operable for different surgical instruments, including the first surgical instrument, where the different surgical instruments have different limitations on movement, the projection being different for the different limitations on the movement.

18. The surgical robotic system of claim 15 wherein the projection defines instantaneous feasible motion of the end effector mapped to a control frame, the inverse kinematics being a combination of a Jacobian and the projection.

19. The method of claim 9 wherein receiving comprises receiving the user command with rotation in three degrees of freedom where the surgical tool is only rotatable in one or two degrees of freedom.

20. The method of claim 9 wherein solving comprises solving with the projection restricting to feasible rotations.

Assignees

• Verb Surgical Inc

Inventors

• Shrivastava Apoorv
• Zhou Renbin
• Yu Haoran
• Yun Seungkook
• Klingbeil Ellen

Classifications

• B25J9/1607

  Calculation of inertia, jacobian matrixes and inverses · CPC title

• A61B2034/742

  Joysticks · CPC title

• A61B2034/305

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

• A61B34/30

  Surgical robots · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title