Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space

Patent metadata

Field	Value
Publication number	US-9949801-B2
Application number	US-201615359405-A
Country	US
Kind code	B2
Filing date	Nov 22, 2016
Priority date	Sep 17, 1999
Publication date	Apr 24, 2018
Grant date	Apr 24, 2018

Abstract

Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

First claim

What is claimed is:

1. A method for moving a manipulator arm, the manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion, the method comprising:
receiving a reconfiguration command while the distal portion is in a desired state, the reconfiguration command being for a reconfiguration movement of a first portion of the manipulator arm between the base and the distal portion so as to maintain the desired state of the distal portion in combination with the reconfiguration movement of the first portion of the manipulator arm;
calculating joint velocities for a first movement of a first set of joints of the plurality of joints in accordance with the reconfiguration movement of the first portion of the manipulator arm in response to the reconfiguration command;
calculating joint velocities for a second movement of one or more joints of the plurality of joints in response to the reconfiguration command so that a combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints corresponds to a joint-velocity direction that maintains the desired state of the distal portion; and
driving the plurality of joints according to the calculated joint velocities for the first movement in combination with the calculated joint velocities for the second movement so as to maintain the desired state of the distal portion during the reconfiguration movement of the first portion of the manipulator arm.

2. The method of claim 1 , wherein the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm.

3. The method of claim 1 , wherein the first set of joints of the plurality of joints does not overlap with the one or more joints of the plurality of joints.

4. The method of claim 1 ; wherein the desired state of the distal portion includes a distal portion position, orientation, or velocity relative to the base.

5. The method of claim 1 , wherein the reconfiguration command is received through an input device disposed on the manipulator arm.

6. The method of claim 1 , further comprising:
receiving a manipulation command prior to the reconfiguration command to move the distal portion from an initial state to the desired state;
calculating joint velocities of the plurality of joints for a distal portion displacing movement in accordance with the manipulation command, the joint velocities for the distal portion displacing movement corresponding to joint-velocity directions that correspond to the distal portion in motion; and
driving the plurality of joints according to the calculated joint velocities for the distal portion displacing movement so as to move the distal portion from the initial state to the desired state.

7. The method of claim 6 , wherein
the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm; and
the joint velocities for the distal portion displacing movement lie within a null-perpendicular space of the Jacobian, the null-perpendicular space being orthogonal to the null space.

8. The method of claim 6 , wherein each of the first set of joints is not driven to effect the distal portion displacing movement.

9. A system comprising:
a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion;
an input device adapted to receive a reconfiguration command while the distal portion is in a desired state, the reconfiguration command being for a reconfiguration movement of a first portion of the manipulator arm between the base and the distal portion so as to maintain the desired state of the distal portion in combination with the reconfiguration movement of the first portion of the manipulator arm; and
a processor coupled to the input device and the manipulator arm, the processor being configured to perform operations including:
calculating joint velocities for a first movement of a first set of joints of the plurality of joints in accordance with the reconfiguration movement of the first portion of the manipulator arm in response to the reconfiguration command;
calculating joint velocities for a second movement of one or more joints of the plurality of joints in response to the reconfiguration command so that a combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints corresponds to a joint-velocity direction that maintains the desired state of the distal portion; and
transmitting a command to the manipulator arm to drive the plurality of joints according to the calculated joint velocities for the first movement in combination with the calculated joint velocities for the second movement so as to maintain the desired state of the distal portion during the reconfiguration movement of the first portion of the manipulator arm.

10. The system of claim 9 , wherein the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm.

11. The system of claim 9 , wherein the first set of joints of the plurality of joints does not overlap with the one or more joints of the plurality of joints.

12. The system of claim 9 , wherein the desired state of the distal portion includes a distal portion position, orientation, or velocity relative to the base.

13. The system of claim 9 , wherein the input device is disposed on the manipulator ami.

14. The system of claim 9 , further comprising a manipulation input device adapted to receive a manipulation command prior to the reconfiguration command to move the distal portion from an initial state to the desired state, wherein the processor is further configured to perform operations including:
calculating joint velocities of the plurality of joints for a distal portion displacing movement in accordance with the manipulation command, the joint velocities for the distal portion displacing movement corresponding to joint-velocity directions that correspond to the distal portion in motion; and
transmitting a command to the manipulator arm to drive the plurality of joints according to the calculated joint velocities for the distal portion displacing movement so as to move the distal portion from the initial state to the desired state.

15. The system of claim 14 , wherein
the combination of the joint velocities for the first movement of the first set of joints and the joint velocities for the second movement of the one or more joints lies within a null space of a Jacobian of the manipulator arm; and
the joint velocities for the distal portion displacing movement lie within a null-perpendicular space of the Jacobian, the null-perpendicular space being orthogonal to the null space.

Assignees

• Intuitive Surgical Operations

Inventors

• Hourtash Arjang M
• Mohr Paul W
• Hingwe Pushkar
• Millman Paul
• Schena Bruce Michael
• Devengenzo Roman L
• Luke Scott

Classifications

• A61B34/30

  Surgical robots · CPC title

• Y10S901/15

  Jointed arm · CPC title

• A61B1/00193

  adapted for stereoscopic vision · CPC title

• A61B2034/742

  Joysticks · CPC title

• A61B34/37 Primary

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