Automatic push-out to avoid range of motion limits
First Claim
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.
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Accused Products
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.
93 Citations
24 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A teleoperated surgical system comprising:
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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. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification