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

US9517106B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Arjang M. Hourtash · San Diego, US
• Paul W. Mohr · Mountain View, US
• Pushkar Hingwe · Los Altos, US
• Paul Millman · San Jose, US
• Bruce M. Schena · Menlo Park, US
• Roman L. Devengenzo · Santa Clara, US
• Scott Luke · Ben Lomond, US

Key dates

• Filing date: May 31, 2013
• Grant date: Dec 13, 2016
• Expiry date: Aug 15, 2033

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/15
• WIPO field: Medical technology
• WIPO sector: Instruments

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.