Workspace optimization for robotic surgery

Patent metadata

Field	Value
Publication number	US-12370002-B2
Application number	US-202117173084-A
Country	US
Kind code	B2
Filing date	Feb 10, 2021
Priority date	Mar 30, 2020
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.

First claim

What is claimed is:

1. A robotic system, comprising:
a patient table comprising a base, a column supported by the base, and a platform supported by the column, the platform being configured to support a patient;
an arm support coupled to the patient table by one or more set-up joints;
a first robotic arm supported by the arm support, the first robotic arm comprising a first end effector and a first plurality of arm joints;
a second robotic arm supported by the arm support, the second robotic arm comprising a second end effector and a second plurality of arm links;
a processor; and
at least one computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to:
drive movement of the first end effector into a new pose during a surgical procedure by controlling a configuration of the first plurality of arm joints in response to inputs received from a surgeon console;
determine an optimized position of the arm support based on information gathered by the processor; and
drive movement of the arm support to the optimized position by controlling a configuration of the one or more set-up joints while the first end effector is being moved into the new pose without interrupting the movement of the first end effector.

2. The system of claim 1 , wherein the information gathered by the processor comprises information regarding at least one of the first end effector of the first robotic arm, an instrument coupled to the first end effector, one or more points of entry including a remote center location of a cannula coupled to the first robotic arm, a location of one or more system components, a procedure type, a user preference, or a patient profile.

3. The system of claim 2 , wherein the information gathered by the processor comprises information regarding the location of one or more system components, wherein the location of one or more system components comprises a location of one or more joints of the first plurality of arm joints.

4. The system of claim 2 , wherein the information gathered by the processor comprises information regarding the location of one or more system components, wherein the location of one or more system components comprises a location of the platform.

5. The system of claim 2 , wherein the information gathered by the processor comprises an orientation of the first end effector of the first robotic arm.

6. The system of claim 1 , wherein the information gathered by the processor comprises at least one of linkage separations or joint positions relative to system component limits.

7. The system of claim 1 , wherein the arm support is configured to move to the optimized position autonomously.

8. The system of claim 1 , wherein the arm support is configured to move to the optimized position based on a user prompt.

9. The system of claim 8 , wherein the user prompt is received via a user interface associated with a tower.

10. The system of claim 8 , wherein the user prompt is received via touchpoints coupled to the first robotic arm and/or the arm support.

11. The system of claim 8 , wherein the user prompt is received via a user interface associated with the surgeon console.

12. The system of claim 1 , wherein the computer-executable instructions are configured to further cause the processor to:
command the arm support to move to an optimized position as the first robotic arm is manually moved.

13. The system of claim 1 , wherein the arm support is configured to move to the optimized position while maintaining a remote center location.

14. The system of claim 1 , wherein the processor is further configured to:
drive movement of the second end effector into a second new pose during the surgical procedure in response to inputs received from the surgeon console; and
drive the movement of the arm support while the second end effector is being moved into the second new pose without interrupting the movement of the second end effector.

15. The system of claim 1 , wherein the arm support is coupled to the column of the patient table.

Assignees

• Auris Health Inc

Inventors

• Huang Yanan
• Romanczyk Caitlin Marie
• Murphy Ryan J
• Mintz David Stephen
• Eyre Nicholas J

Classifications

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• B25J9/1666 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J9/106

  with articulated links · CPC title

• B25J9/1689

  Teleoperation · CPC title

• B25J9/0087

  Dual arms (double SCARA arms B25J9/043) · CPC title