Base positioning system for a controllable arm and related methods

Patent metadata

Field	Value
Publication number	US-12324637-B2
Application number	US-202117494300-A
Country	US
Kind code	B2
Filing date	Oct 5, 2021
Priority date	Sep 19, 2016
Publication date	Jun 10, 2025
Grant date	Jun 10, 2025

Abstract

A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.

First claim

What is claimed is:

1. A robotic system comprising:
a base movable relative to a floor surface;
a robotic arm extending from the base and comprising a powered joint operable to move a distal portion of the robotic arm, the robotic arm configured to support a tool; and
a processor communicatively coupled to the robotic arm, the processor configured to:
receive input data indicative of a characteristic of an access port through which the tool is insertable to perform a procedure on a subject, wherein the input data is further indicative of a second characteristic of a second access port, the second access port to be used in the procedure;
determine a desired position or orientation of the base using the input data, and
drive the powered joint to reposition the base toward the desired position or orientation.

2. The robotic system of claim 1 , wherein:
the movable base is configured to be attached to a table on which the subject is positioned during the procedure; or
the robotic system further comprises a cart coupled to the base, wherein the cart is configured to roll on a floor.

3. The robotic system of claim 1 , wherein:
the desired position or orientation of the base comprises both the desired position of the base and the desired orientation of the base.

4. The robotic system of claim 1 , wherein:
the processor is further configured to receive information about the procedure, wherein the information about the procedure comprises an extent of a workspace for the procedure; and
the processor is configured to determine the desired position or orientation further using the information about the procedure.

5. The robotic system of claim 4 , wherein the information about the procedure is indicative of a boundary of a workspace for the procedure.

6. The robotic system of claim 4 , wherein the processor is configured to receive the input data by:
receiving a signal from a sensor indicative of movement of the robotic arm during an operator demonstration of a workspace for the procedure.

7. The robotic system of claim 6 wherein:
the robotic arm comprises a distal portion configured to support the tool;
the workspace for the procedure is a workspace for the distal portion or the tool; and
the processor is configured to determine the desired position or orientation of the base using the input data by: using the signal.

8. The robotic system of claim 1 , wherein:
the characteristic of the access port comprises a location of the access port.

9. The robotic system of claim 1 , wherein:
the access port is a first access port, and the desired position or orientation of the base is a first desired position or orientation of the base; and
the processor is further configured to:
determine a second desired position or orientation of the base using the input data, and
drive the powered joint to reposition the base toward the second desired position or orientation.

10. The robotic system of claim 1 , wherein the processor is configured to drive the powered joint to reposition the base toward the desired position or orientation by:
driving the powered joint to reposition the base in response to detecting that a position of the distal portion of the robotic arm is externally maintained relative to the access port.

11. A method of operating a robotic system comprising a robotic arm extending from a base, the robotic arm comprising a powered joint operable to move a distal portion of the robotic arm and configured to support and move a tool, the method comprising:
receiving, by a processor, input data indicative of a characteristic of an access port through which the tool is insertable to perform a procedure on a subject, wherein the input data is further indicative of a second characteristic of a second access port, the second access port to be used in the procedure;
determining, by the processor, a desired position or orientation of the base of the robotic system using the input data, and
driving, by the processor, the powered joint of the robotic arm to reposition the base of the robotic system toward the desired position or orientation.

12. The method of claim 11 , further comprising:
receiving information about the procedure, wherein the information about the procedure comprises an extent of a workspace for the procedure; and
determining the desired position or orientation further comprises: using the information about the procedure.

13. The method of claim 11 , further comprising:
determining a second desired position or orientation of the base using the input data; and
driving the powered joint to reposition the base toward the second desired position or orientation.

14. The method of claim 11 , wherein driving the powered joint to reposition the base toward the desired position or orientation comprises:
driving the powered joint to reposition the base in response to detecting that a position of the distal portion of the robotic arm is externally maintained relative to the access port.

15. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a robotic system comprising a robotic arm extending from a base, the robotic arm comprising a powered joint operable to move a distal portion of the robotic arm and configured to support and move a tool, are adapted to cause the one or more processors to perform a method comprising:
receiving input data indicative of a characteristic of an access port through which the tool is insertable, wherein the input data is further indicative of a second characteristic of a second access port;
determining a desired position or orientation of the base of the robotic system using the input data, and
driving the powered joint of the robotic arm to reposition the base of the robotic system toward the desired position or orientation.

16. The non-transitory machine-readable medium of claim 15 , wherein:
the method further comprises: receiving procedure data indicative of a procedure to be performed on a subject by the robotic system using the tool inserted through the access port; and
determining the desired position or orientation further comprises: using the procedure data.

Assignees

• Intuitive Surgical Operations

Inventors

• Dimaio Simon Peter
• Bernstein Nicholas Leo
• Millman Paul
• Rabindran Dinesh
• Robertson Alec Paul

Classifications

• B25J9/1689

  Teleoperation · CPC title

• B25J9/126

  Rotary actuators · CPC title

• A61B2034/2048

  using an accelerometer or inertia sensor · CPC title

• A61B90/03

  Automatic limiting or abutting means, e.g. for safety · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title