Automatic push-out to avoid range of motion limits

US10028793B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Paul G. Griffiths · Santa Clara, US
• Paul W. Mohr · Mountain View, US
• Brandon D. Itkowitz · San Jose, US
• Thomas R. Nixon · San Jose, US
• Roman L. Devengenzo · Santa Clara, US

Key dates

• Filing date: Mar 17, 2015
• Grant date: Jul 24, 2018
• Expiry date: Jun 30, 2035

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/5025
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.