Automatic push-out to avoid range of motion limits

• US 10,028,793 B2
• Filed: 03/17/2015
• Issued: 07/24/2018
• 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., Nixon, Thomas R., Devengenzo, Roman
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/126,541
• Publication Number:
  US 20170112580A1
• Time in Patent Office: 1,225 Days
• CPC Class Codes: A61B 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 19/0004 Braking devices brakes in general F16D
• CPC Class Codes: B25J 9/0033 with kinematics chains having a prismatic joint at the base
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: F16M 13/022 repositionable

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.

Claims

1. A method of controlling a robotic surgical system having a surgical manipulator coupled with a support structure by a set-up linkage, the set-up linkage including a joint having a range of motion, the set-up linkage being configured to facilitate an alignment of the surgical manipulator with a desired position and orientation relative to the support structure, the set-up linkage further including a drive or brake system operatively coupled to the set-up linkage and configured to limit inadvertent movement of the set-up linkage relative to the support structure when actuated, the method comprising:

identifying a first software defined range of motion limit spaced a distance apart from a first physical range of motion limit of the joint and defining a first range of motion limit envelope between the first software defined range of motion limit and the first physical range of motion limit;

receiving a user input for halting a driving or braking by the drive or brake system to allow for manual positioning of the manipulator relative to the support structure through movement of the joint of the set-up linkage;

halting a driving or braking by the drive or brake system in response to receiving the user input;

detecting a position of the joint within the range of motion; and

receiving a user input for reapplying the driving or braking by the drive or brake system and, in response, delaying reapplication of the driving or braking by the drive or brake system of the set-up linkage for at least a duration of time when the position of the joint is detected to be within the first range of motion limit envelope.

2. The method of claim 1, wherein the range of motion is between the first physical range of motion limit and a second range of motion limit and wherein the method further comprises identifying a second software defined range of motion limit spaced a distance apart from a second physical range of motion limit of the joint and defining a second range of motion limit envelope between the second software defined range of motion limit and the second physical range of motion limit;

and wherein reapplication of the driving or braking by the drive or brake system of the set-up linkage is delayed for at least the duration of time when the position of the joint is detected to be within the first range of motion limit envelope or the second range of motion limit envelope.

3. The method of claim 2, wherein the joint comprises a prismatic joint where the first physical range of motion limit occurs when the prismatic joint is in a fully extended configuration and where the second physical range of motion limit occurs when the prismatic joint is in a fully compressed configuration, and wherein the first range of motion limit envelope is a range of motion of 0.5 inches or less between the first software defined range of motion limit and the first physical range of motion limit and the second range of motion limit envelope is a range of motion of 0.5 inches or less between the second software defined range of motion limit and the second physical range of motion limit.

4. The method of claim 3, wherein the prismatic joint includes one or more springs at the first physical range of motion limit extending within the first range of motion limit envelope to resist movement of the prismatic joint to the fully extended configuration and one or more springs at the second physical range of motion limit extending within the second range of motion limit envelope to resist movement of the prismatic joint to the fully compressed configuration.

5. The method of claim 4, wherein joint position is detected within the first or second range of motion limit envelopes by detecting a compression of the one or more springs at the first physical range of motion limit or at the second physical range of motion limit.

6. The method of claim 4, wherein, while delaying the reapplication of the driving or braking by the drive or brake system of the set-up linkage, the one or more springs at the first or second physical range of motion limit are configured to absorb motion toward the associated physical range of motion limit and to passively push the joint back to a position between the first and second software defined range of motion limits.

7. The method of claim 6, further comprising reinitializing the driving or braking by the drive or brake system of the set-up linkage after the one or more springs passively push the joint back to a position within the range of motion between the first and second software defined range of motion limits.

8. The method of claim 1, further comprising, after delaying reapplication of the driving or braking by the drive or brake system of the set-up linkage for the duration of time, reinitializing the driving or braking by the drive or brake system of the set-up linkage while the joint is positioned within the first range of motion limit envelope;

and outputting an error signal in a manner perceptible to an operator.

9. The method of claim 8, further comprising clearing the error signal after the joint is moved to a position within a preferred range of motion between the first software defined range of motion limit and a second software defined range of motion limit and reapplying the driving or the braking by the drive or brake system of the set-up linkage with the joint positioned within the preferred range of motion.

10. The method of claim 1, wherein the drive or brake system comprises a motor coupled with a mechanical constant force spring and wherein the method further comprises driving the motor to increase a spring constant associated with the mechanical constant force spring when detecting the position of the joint within the first range of motion limit envelope.

11. The method of claim 10, further comprising increasing the spring constant of the mechanical constant force spring as the joint nears the first software defined range of motion limit.

12. A teleoperated surgical system comprising:

a surgical manipulator coupled with a support structure by a set-up linkage, the set-up linkage including a joint having a range of motion between a first physical range of motion limit and a second physical range of motion limit, the set-up linkage being configured to facilitate an alignment of the surgical manipulator with a desired position and orientation relative to the support structure, the set-up linkage further including a drive or brake system operatively coupled to the set-up linkage and configured to limit inadvertent movement of the set-up linkage relative to the support structure when actuated;

a switch positioned along the manipulator or set-up linkage and configured for operator actuation of the drive or brake system of the set-up linkage to selectively halt or apply a driving or braking by the drive or brake system to allow for manual positioning of the manipulator relative to the support structure through movement of the joint of the set-up linkage; and

a computing unit coupled with the drive or brake system of the set-up linkage, the computing unit configured to detect a position of the joint within the range of motion, the computing unit identifying a first software defined range of motion limit spaced a distance apart from the first physical range of motion limit of the joint and defining a first range of motion limit envelope between the first software defined range of motion limit and the first physical range of motion limit and identifying a second software defined range of motion limit spaced a distance apart from the second physical range of motion limit of the joint and defining a second range of motion limit envelope between the second software defined range of motion limit and the second physical range of motion limit;

wherein the computing unit is configured to operate the drive or brake system of the set-up linkage to increase a resistance against manual movement of the joint toward the first software defined range of motion limit and the second software defined range of motion limit;

wherein, when the computing unit detects the joint positioned within the first or second range of motion limit envelopes, the computing unit is configured to delay reapplication of the driving or braking by the drive or brake system of the set-up linkage for at least a threshold duration of time.

13. The teleoperated surgical system of claim 12, wherein the joint comprises a prismatic joint where the first physical range of motion limit occurs when the prismatic joint is in a fully extended configuration and where the second physical range of motion limit occurs when the prismatic joint is in a fully compressed configuration, and wherein the first range of motion limit envelope is a range of motion of 0.5 inches or less between the first software defined range of motion limit and the first physical range of motion limit and the second range of motion limit envelope is a range of motion of 0.5 inches or less between the second software defined range of motion limit and the second physical range of motion limit.

14. The teleoperated surgical system of claim 13, wherein the prismatic joint includes one or more springs at the first physical range of motion limit extending within the first range of motion limit envelope to resist movement of the prismatic joint to the fully extended configuration and one or more springs at the second physical range of motion limit extending within the second range of motion limit envelope to resist movement of the prismatic joint to the fully compressed configuration.

15. The teleoperated surgical system of claim 14, wherein one or more springs at the first physical range of motion limit and the one or more springs at the second physical range of motion limit are configured to yield 3 to 3.5 mm when compressed.

16. The teleoperated surgical system of claim 14, further comprising bumpers positioned at the first physical range of motion limit that provide 1 to 1.5 mm of material deformation when compressed and bumpers positioned at the second physical range of motion limit that provide 1 to 1.5 mm of material deformation when compressed.

17. The teleoperated surgical system of claim 14, wherein the computing unit detects joint position within the first or second range of motion limit envelopes by detecting a compression of the one or more springs at the first physical range of motion limit or the second physical range of motion limit.

18. The teleoperated surgical system of claim 14, wherein the one or more springs at the first physical range of motion limit are configured to passively push the joint back to a position between the first and second software defined range of motion limits while the computing unit delays reapplication of the driving or braking by the drive or brake system of the set-up linkage.

19. The teleoperated surgical system of claim 18, wherein the computing unit reinitializes the driving or braking by the drive or brake system of the set-up linkage after the one or more springs passively push the joint back to a position within the range of motion between the first and second software defined range of motion limits.

20. The teleoperated surgical system of claim 12, wherein the threshold duration of time is 3 to 8 seconds.

21. The teleoperated surgical system of claim 20, wherein after the computing unit delays reapplication of the driving or braking by the drive or brake system of the set-up linkage for the threshold duration of time, the computing unit allows for reapplication of the driving or braking by the drive or brake system of the set-up linkage while the joint is positioned within the first range of motion limit envelope or within the second range of motion limit envelope and outputs an error signal in a manner perceptible to an operator when the driving or braking of the drive or brake system of the set-up linkage is reapplied with the joint positioned within the first range of motion limit envelope or within the second range of motion limit envelope.

22. The teleoperated surgical system of claim 21, wherein the computing unit clears the error signal after the joint is moved to a position within the range of motion between the first software defined range of motion limit and the second software defined range of motion limit and allows for the reapplication of the driving or the braking by the drive or brake system of the set-up linkage with the joint positioned between the first and second software defined range of motion limits.

23. The teleoperated surgical system of claim 12, wherein the drive or brake system comprises a motor coupled with a mechanical constant force spring and wherein the computing unit is coupled with the motor and drives the motor to increase a spring constant associated with the mechanical constant force spring when the computing unit detects the position of the joint within the first range of motion limit envelope and increases the spring constant associated with the mechanical constant force spring when the computing unit detects the position of the joint within the second range of motion limit envelope.

24. The teleoperated surgical system of claim 23, wherein the computing unit is configured to gradually increase the spring constant of the mechanical constant force spring as the joint nears the first software defined range of motion limit or the second software defined range of motion limit.