Methods of controlling motion of under-actuated joints in a surgical set-up structure

• US 10,022,196 B2
• Filed: 03/17/2015
• Issued: 07/17/2018
• Est. Priority Date: 03/17/2014
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Griffiths, Paul G., Mohr, Paul W., Itkowitz, Brandon D.
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/126,536
• Publication Number:
  US 20170079731A1
• Time in Patent Office: 1,218 Days
• Field of Search: 700245-264, 318567-569, 414 7, 414730, 483 54- 57, 600101, 600102, 600104, 600117, 600118, 606 1, 606 10, 606 34, 606130
• CPC Class Codes: A61B 2090/035 preventing further rotation
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: B25J 9/02 characterised by movement of the arms, e.g. cartesian coordinate type B25J9/06 takes precedence
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

Claims

1. A method for configuring a tele-surgical system,

the method comprising:

accelerating a platform linkage that supports a first robotic arm by driving one or more driven joints supporting the platform linkage, thereby imparting forces or moments to the first robotic arm;

inhibiting a passive movement of a first joint of the first robotic arm when passive movement of the first joint in response to the forces or moments on the first robotic arm moves the first joint away from a reference state of the first joint, the reference state corresponding to a desired configuration of the first robotic arm; and

facilitating the passive movement of the first joint when the passive movement of the first joint in response to the forces or moments on the first robotic arm moves the first joint towards the reference state of the first joint.

2. The method of claim 1, further comprising:

halting the passive movement of the first joint of the first robotic arm when the first joint is at the reference state.

3. The method of claim 1, wherein the desired configuration comprises any of:

an extended deployed configuration of the first robotic arm,

a contracted stowed configuration of the first robotic arm, and

a partially stowed configuration of the first robotic arm.

4. The method of claim 1, further comprising:

determining when the passive movement of the first joint is directed away from, directed towards, or disposed at the reference state by sensing a joint torque of the first joint.

5. The method of claim 1, wherein inhibiting the passive movement of the first joint comprises at least party applying braking to the first joint and wherein facilitating the passive movement comprises at least partly releasing braking applied to the first joint.

6. The method of claim 1, wherein facilitating the passive movement of the first joint comprises:

selectively releasing braking to accelerate the first joint to a reference velocity and

selectively applying the braking to maintain the reference velocity or to decelerate the first joint.

7. The method of claim 1, wherein facilitating the passive movement comprises at least partly releasing a joint brake of the first joint in response to a sensed torque of the first joint exceeding a threshold torque.

8. The method of claim 1, wherein accelerating the platform linkage comprises accelerating the platform linkage between opposite directions by a driven joint movement having at least one degree of freedom.

9. The method of claim 8, wherein accelerating the platform linkage between opposite directions imparts inertial forces or moments to the first robotic arm such that a reaction torque in the first joint alternates between opposing directions.

10. The method of claim 8, further comprising:

alternating between inhibiting the passive movement of the first joint and facilitating the passive movement of the first joint until the first joint reaches the reference state.

11. The method of claim 8, wherein accelerating the platform linkage comprises driving a driven revolute joint so as to pivot the platform linkage about a vertically extending pivotal axis.

12. The method of claim 11, wherein the platform linkage is substantially horizontal during an accelerating movement of the platform linkage.

13. The method of claim 12, wherein the first joint comprises a revolute joint that revolves around a first joint axis, wherein the first joint axis extends vertically.

23. The method of claim 1, wherein accelerating the platform linkage comprises:

accelerating the platform linkage to at least a first speed when a displacement of the first joint from the reference state exceeds a pre-determined displacement, and

accelerating the platform linkage to a second speed that is lower than the first speed when the displacement of the first joint from the reference state is within the pre-determined displacement.

24. The method of claim 1, wherein a release of the first joint is effected when a combination of a sensed state of the first joint and a sensed state of the platform linkage corresponds to sufficient momentum to move the first joint to its reference state by the passive movement of the first joint.

25. The method of claim 1, further comprising:

while facilitating the passive movement of the first joint, partially applying a second joint brake of a second joint while the second joint is at a second reference state, wherein the second joint is part of a second robotic arm supported by the platform linkage, and wherein the second reference state corresponds to a desired configuration of the second robotic arm.

14. A method for configuring a tele-surgical system, the method comprising:

accelerating a platform linkage that supports a first robotic arm by driving one or more driven joints supporting the platform linkage, thereby imparting forces or moments to the first robotic arm, wherein the first robotic arm comprises a plurality of joints, each joint of the plurality of joints being configured to selectively allow a passive joint movement by selective application of a respective joint brake, wherein each joint of the plurality of joints has an associated reference state corresponding to a desired configuration of the first robotic arm;

for each joint of the plurality of joints, inhibiting the passive movement of the joint when the passive movement of the joint in response to the forces and or moments on the first robotic arm moves the joint away from the associated reference state; and

for each joint of the plurality of joints, facilitating the passive movement of the joint when the passive movement of the joint in response to the forces or moments on the first robotic arm moves the joint towards the associated reference state.

15. The method of claim 14, further comprising:

for each joint of the plurality of joints, halting the passive movement of the joint when the joint reaches the associated reference state.

16. The method of claim 14, further comprising:

for each joint of the plurality of joints, alternating between inhibiting and facilitating the passive movement of the joint when the joint is displaced from the associated reference state; and

accelerating the platform linkage between opposing directions along one or more degrees of freedom that correspond to one or more degrees of freedom associated with the passive movements of the plurality of joints.

17. The method of claim 14, wherein the platform linkage supports a second robotic arm, and wherein accelerating the platform linkage imparts forces or moments to the second robotic arm, the method further comprising:

inhibiting a passive movement of a first joint of the second robotic arm when passive movement of the first joint of the second robotic arm in response to the second forces or moments on the second robotic arm moves the first joint away from a reference state, the reference state corresponding to a desired configuration of the second robotic arm; and

facilitating the passive movement of the first joint of the second robotic arm when the passive movement of the first joint in response to the second forces or moments on the second robotic arm moves the first joint towards the reference state.

18. The method of claim 17, wherein the desired configuration of the first and second robotic arms comprises any of:

a deployed configuration in which the first and second robotic arms are extended and spaced apart,

a stowed configuration in which the first and second robotic arms are contracted and disposed against or immediately adjacent one another, and

a partially stowed configuration in which the first and second robotic arms are partially contracted and disposed farther apart than in the stowed configuration.

19. The method of claim 14 wherein accelerating the platform linkage comprises:

accelerating the platform linkage to at least a first speed when a displacement of a first joint of the plurality of joints from its associated reference state exceeds a pre-determined displacement, and

accelerating the platform linkage to a second speed that is lower than the first speed when the displacement of the first joint from its associated reference state is within the pre-determined displacement.

20. The method of claim 19, wherein, for each joint of the plurality of joints, inhibiting the passive movement of the joint comprises braking the first joint with a joint brake and facilitating the passive movement of the joint comprises at least partially releasing the braking with the joint brake.

21. The method of claim 20, wherein a release of a particular joint of the plurality of joints is effected when a combination of a sensed state of the particular joint and a sensed state of the platform linkage corresponds to sufficient momentum to move the particular joint to its reference state by the passive movement.

22. The method of claim 14, wherein, for each joint of the plurality of joints, facilitating the passive movement of the joint comprises:

selectively releasing braking to accelerate the joint to a reference velocity and

selectively applying the braking to maintain the reference velocity or to decelerate the joint.

26. A method for configuring a tele-operational system, the method comprising:

accelerating a platform linkage that supports a first robotic arm by driving one or more driven joints supporting the platform linkage, thereby imparting a force or moment to the first robotic arm;

sensing a joint torque of a first joint of the first robotic arm;

determining if a passive movement of the first joint of the first robotic arm in response to the force or moment moves the first joint towards or away from a reference state of the first joint, the reference state corresponding to a desired configuration of the first robotic arm;

inhibiting the passive movement of the first joint of the first robotic arm when the passive movement of the first joint in response to the force or moment moves the first joint away from the reference state, wherein inhibiting the passive movement of the first joint comprises at least partly applying braking to the first joint;

facilitating the passive movement of the first joint when the passive movement of the first joint in response to the force or moment moves the first joint towards the reference state of the first joint, wherein facilitating the passive movement comprises at least partly releasing braking applied to the first joint; and

halting the passive movement of the first joint of the first robotic arm when the first joint is at the reference state.

27. The method of claim 26, wherein facilitating the passive movement of the first joint comprises selectively releasing braking to accelerate the first joint to a reference velocity and selectively applying the braking to maintain the reference velocity or to decelerate the first joint, the method further comprising:

while facilitating the passive movement of the first joint, at least partially applying a second joint brake of a second joint while the second joint is at a second reference state, wherein the second joint is part of a second robotic arm supported by the platform linkage, and wherein the second reference state corresponds to a desired configuration of the second robotic arm.

28. The method of claim 26, further comprising alternating between inhibiting the passive movement of the first joint and facilitating the passive movement of the first joint until the first joint reaches the reference state, wherein

accelerating the platform linkage comprises accelerating the platform linkage between opposite directions by a driven joint movement having at least one degree of freedom;

and

accelerating the platform linkage between opposite directions imparts inertial forces or moments to the first robotic arm such that a reaction torque in the first joint alternates between opposing directions.