Manipulator arm-to-patient collision avoidance using a null-space
US9757203B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 14, 2016 |
| Grant date | Sep 12, 2017 |
| Priority date | — |
| Expiry date | Nov 14, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45117
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.