Software center and highly configurable robotic systems for surgery and other uses
First Claim
Patent Images
1. A robotic system comprising:
- a manipulator assembly for robotically moving a distal end effector relative to a proximal base, the manipulator assembly having a plurality of joints, the joints providing sufficient degrees of freedom to allow a range of joint states for an end effector position;
an input for receiving a command to effect a desired movement of the end effector; and
a processor coupling the input to the manipulator assembly, the processor determining movements of the joints in response to the command so as to move the end effector with the desired movement, the processor configured to drive at least one of the joints in response to an external articulation of another joint of the manipulator assembly.
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Abstract
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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Citations
99 Claims
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1. A robotic system comprising:
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a manipulator assembly for robotically moving a distal end effector relative to a proximal base, the manipulator assembly having a plurality of joints, the joints providing sufficient degrees of freedom to allow a range of joint states for an end effector position;
an input for receiving a command to effect a desired movement of the end effector; and
a processor coupling the input to the manipulator assembly, the processor determining movements of the joints in response to the command so as to move the end effector with the desired movement, the processor configured to drive at least one of the joints in response to an external articulation of another joint of the manipulator assembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A surgical robotic system comprising:
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a surgical instrument having a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion therebetween;
a manipulator supporting the proximal end of the instrument so as to move the instrument from outside the patient;
the manipulator and instrument having a plurality of driven joints, the joints providing sufficient degrees of freedom to allow a range of joint states for an end effector position while the intermediate portion passes through an access site;
an input for receiving a movement command to effect a desired movement of the end effector within a surgical workspace; and
a processor coupling the input to the manipulator, the processor configured to determine movements of the joints in response to the commanded movement so that the intermediate portion of the instrument is within the access site during the desired movement of the end effector. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45)
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46. A master-slave robotic system comprising:
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a first manipulator assembly having a first end effector that can move in a workspace, the first manipulator assembly having a plurality of alternative joint states for a first end effector position in the workspace;
a second manipulator assembly having a second end effector that can move in the workspace, the second manipulator assembly transmitting state signals indicating movement of the second manipulator assembly;
an input device for receiving an input for a first desired movement of the first end effector within the workspace;
a processor coupled to the input device, the first manipulator assembly, and the second manipulator assembly, the processor configured to determine a movement of the first manipulator assembly in response to the input for the first desired movement taking into consideration the second manipulator assembly state signals so as to inhibit collisions between the manipulator assemblies, the processor controlling the first end effector in effecting the first desired movement. - View Dependent Claims (47, 48, 49)
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50. A surgical robotic manipulator system comprising:
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a movable surgical instrument holder;
a base positionable near a workspace;
an arm assembly pivotally coupled to the base and pivotally coupled to the instrument holder, the arm assembly including;
a first link having a first axis, a second link having a second axis, a pivotal arm joint coupling the first link to the second link, the pivotal joint having a pivotal axis for varying an angle between the first axis and the second axis, and a first roll joint between the base and pivotal arm joint, the first roll joint having an arm roll axis extending along the first axis. - View Dependent Claims (51, 52, 53, 54, 55, 56, 57)
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58. A surgical robotic manipulator assembly for manipulating tissues through a minimally invasive surgical aperture of a patient body, the robotic manipulator assembly comprising:
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a manipulator extending from a proximal base to a distal instrument holder, the manipulator having a plurality of joints for moving the instrument holder outside the patient body;
a surgical instrument removably mounted to the instrument holder, the instrument having a shaft extending from a proximal manipulator interface to a distal end effector for manipulating tissue within the patient body, the shaft defining an axis;
the manipulator and instrument having sufficient degrees of freedom so that the joints can have a range of differing joint states for an end effector position when the shaft extends through a minimally invasive aperture, one of the degrees of freedom comprising axial movement of the shaft relative to the holder. - View Dependent Claims (59)
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60. A robotic manipulator system for moving a robotic tool, the manipulator system comprising:
a first manipulator having;
a manipulator base positionable adjacent a workspace;
a first link having a proximal end and a distal end with a first link axis therebetween, the proximal end of the first link coupled to the manipulator base by a first joint, the first joint allowing rotation of the first link axis about a first joint axis angularly offset from the first link axis;
a second link having a proximal end and a distal end with a second link axis therebetween, the proximal end of the second link coupled to the distal end of the first link at a second joint allowing an angle between the second link axis and the first link axis to vary;
a third link having a proximal end and a distal end with a third link axis therebetween, the proximal end of the third link coupled to the distal end of the second link at a third joint allowing rotation about the second link axis;
a fourth link having a proximal end and a distal end with a fourth link axis therebetween, the proximal end of the fourth link axis coupled to the distal end of the third link axis at a fourth joint allowing changes to an angle between the third link axis and the fourth link axis;
a fifth link having a first portion and a second portion, the first portion of the fifth link coupled to the distal end of the fourth link at a fifth joint allowing rotation about the fourth link axis; and
a tool holder defining a tool axis and coupled to the second portion of the fifth link at a sixth joint so as to allow changes to an angle of the tool axis relative to the fourth link axis.
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61. A surgical robotic system comprising:
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a manipulator assembly for robotically moving a surgical end effector, the manipulator assembly having a plurality of joints, the joints providing sufficient degrees of freedom to allow a range of joint states for an end effector position within a surgical workspace;
an input for receiving a command to effect a desired movement of the end effector within the surgical workspace; and
a processor coupling the input to the manipulator assembly, the processor having a primary joint controller driving the manipulator to a primary solution, the primary solution being underconstrained, the processor also having a configuration-dependent filter that restricts the actuation of the manipulator so as to provide a desired combination of joint states during the desired end effector movement. - View Dependent Claims (62, 63, 64, 65, 66, 67)
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68. A robotic system comprising:
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a manipulator assembly for robotically moving an end effector, the manipulator assembly having a plurality of joints, the joints providing sufficient degrees of freedom to allow a range of joint states associated with an end effector position;
an input for receiving a command to effect a desired end effector state; and
a processor coupling the input to the manipulator assembly, the processor having a primary joint velocity controller configured to drive the manipulator to a primary solution, the primary solution being underconstrained and corresponding to the desired end effector movement and an associated range of joint states, the processor also having a configuration-dependent filter corresponding to an inverse with a projector for filtering additional velocities, the velocities configured so as to drive the manipulator to a desired combination of joint states for a secondary control task, the secondary control task comprising one or more of inhibiting collisions of the manipulator assembly, driving the manipulator assembly toward a desired pose, or pivotal movement of a link of the manipulator assembly along a length of the link.
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69. A robotic surgical system comprising:
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a manipulator assembly having a proximal base and a distal surgical end effector insertable through a minimally invasive aperture to an internal surgical site, the manipulator assembly having a plurality of joints;
a force sensor system for sensing forces applied between the manipulator assembly and the aperture;
an input for receiving a command to effect a desired movement of the end effecter within the internal surgical site; and
a processor coupling the input to the manipulator assembly, the processor comprising a hybrid velocity/force master-slave controller effecting the desired movement by calculating joint velocity commands in response to the input command, joint states of the joints, and the sensed force between the manipulator and the aperture. - View Dependent Claims (70)
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71. A robotic surgical system comprising:
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a manipulator assembly for robotically moving a distal end effector relative to a proximal base, the manipulator assembly having a plurality of joints;
a port clutch input;
a master input for receiving a command to effect a desired movement of the end effecter; and
a processor coupling the master input to the manipulator assembly, the processor changing between a tissue manipulation mode and a port clutch mode in response to actuation of the port clutch input, the processor in the tissue manipulation mode calculating movements of the joints in response to the command so as to pivot the manipulator adjacent a minimally invasive aperture site and move the end effector with the desired movement, the processor in the port clutch mode configured to manually reconfigure the joints of the manipulator assembly for movement of the aperture site. - View Dependent Claims (72, 73, 74)
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75. A robotic surgical system comprising:
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a manipulator for robotically moving a distal instrument holder relative to a proximal base, the manipulator having a plurality of joints;
a surgical instrument releasably mountable to the instrument holder, the instrument having a shaft extending from the instrument holder distally to an end effector;
an instrument clutch input;
an input for receiving a command to effect a desired movement of the end effecter; and
a processor coupling the input to the manipulator assembly, the processor coupled to the instrument clutch input and changing between a tissue manipulation mode and an instrument clutch mode in response to actuation thereof, the processor in the tissue manipulation mode calculating movements of the joints in response to the command so as to pivot the shaft adjacent a minimally invasive aperture site along the shaft and move the end effector with the desired movement, the processor in the instrument clutch mode calculating movements of at least one of the joints in response to manual articulation of the manipulator so that the holder pivots about a pivotal center disposed along an axis of the instrument shaft distal of the instrument holder. - View Dependent Claims (76)
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77. A robotic surgical system comprising:
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a manipulator assembly for robotically moving a distal end effector relative to a proximal base, the manipulator assembly having a plurality of joints;
an input for receiving a command to effect a desired movement of the end effecter; and
a processor coupling the input to the manipulator assembly, the processor calculating movements of the joints in response to the command so as to move the end effector with the desired movement by pivoting the manipulator at a pivotal center adjacent a minimally invasive aperture, the movements of the joints calculated by the processor inhibiting movement of the pivotal center according to a desired pivotal center stiffness factor. - View Dependent Claims (78)
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79. A robotic method comprising:
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inputting a command into an input device to move an end effecter a desired movement, a manipulator assembly including the end effector and a plurality of joints with sufficient degrees of freedom to allow a range of joint states for an end effector position;
calculating movements of the joints in response to the command so as to move the end effector with the desired movement; and
driving at least one of the joints in response to an external articulation of another joint of the manipulator assembly. - View Dependent Claims (80, 81)
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82. A robotic method comprising:
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inserting an end effector of a robotic tool distally through an aperture;
moving a proximal end of the tool proximally of the aperture with a robotic manipulator, the manipulator and tool having a plurality of driven joints with sufficient degrees of freedom to allow a range of joint states for an end effector position distal of the aperture;
inputting a movement command to effect a desired movement of the end effector; and
calculate movements of the joints in response to the commanded movement so that an intermediate portion of the tool moves within the aperture during the desired movement of the end effector. - View Dependent Claims (83, 84)
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85. A robotic method comprising:
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robotically moving a first end effector of a first manipulator assembly, the first manipulator assembly having sufficient degrees of freedom to allow a range of alternative joint states for a first end effector position in a workspace;
robotically moving a second end effector of a second manipulator assembly;
transmitting signals from the second manipulator assembly, the signals indicating movement of the second manipulator assembly;
inputting a desired movement of the first end effector within the workspace;
calculating a movement of the first manipulator assembly in response to the first desired movement and the signals so as to inhibit collisions between the manipulators, and so that the first end effector effects the first desired movement.
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86. A robotic method comprising:
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robotically moving a tool holder relative to a base by;
pivoting an arm assembly of the manipulator assembly relative to the base at a first joint therebetween;
pivoting the tool holder relative to the arm assembly at a second joint therebetween;
pivoting a pivotal joint of the arm disposed between the tool holder and the base so as to change an angle between a first axis and a second axis, the first axis extending between the base and the pivotal arm joint, the second axis extending between the pivotal arm joint and the tool holder; and
rolling the pivotal arm joint about the first axis at a rolling joint between the base and the pivotal arm joint.
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87. A robotic method comprising:
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robotically moving an end effector of a manipulator assembly, the manipulator assembly having a plurality of joints, the joints providing sufficient degrees of freedom between a proximal base and the end effector to allow a range of joint states for an end effector state while the manipulator extends distally through an aperture to a worksite;
receiving a command to effect a desired movement of the end effector within the worksite;
calculating an underconstrained primary solution corresponding to the desired movement of the end effector; and
filtering the primary solution with a configuration-dependent filter so as to restrict the actuation of the manipulator to provide a desired combination of joint states.
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88. A robotic method comprising:
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inserting an end effector of a manipulator assembly distally through an aperture to a worksite, the manipulator assembly having a plurality of joints defining a joint state;
sensing forces applied between the manipulator assembly and the aperture;
inputting a command to effect a desired movement of the end effecter within the worksite; and
effecting the desired movement by calculating joint commands in response to the input command and the sensed force between the manipulator and the aperture.
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89. A method for setting-up for a robotic surgical procedure, the method comprising:
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positioning a manipulator assembly adjacent a surgical worksite, actuating a port clutch input along the manipulator assembly;
changing a mode of a processor to a port clutch mode in response to actuation of the port clutch input;
manually repositioning a plurality of joints of the manipulator assembly so as to align the manipulator with a minimally invasive aperture site; and
changing a mode of the processor to a tissue manipulation mode, the processor in the tissue manipulation mode configured to calculate movements of the joints in response to the command so as to move the end effector with a desired movement within a patient body by pivoting the manipulator adjacent the minimally invasive aperture site.
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90. A robotic method comprising:
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mounting a tool to an tool holder of a manipulator;
robotically moving the tool holder relative to a proximal base with the manipulator while a shaft of the tool extends from the tool holder distally through an aperture to an end effector of the tool;
changing a mode of a processor by actuating a clutch input;
calculating movements of at least one joint of the manipulator, using the processor, in response to manual articulation of the manipulator so that the holder pivots about a pivotal center disposed along an axis of the tool shaft distal of the tool holder.
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91. A robotic method comprising:
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inputting a command to effect a desired movement of an end effector;
calculating movements of joints of the manipulator in response to the command so that the end effector effects the desired movement while the manipulator extends through an aperture, the manipulator having a shaft pivoting about a pivotal center adjacent the aperture;
resisting movement of the pivotal center with the calculated joint movements per a desired pivotal center stiffness. - View Dependent Claims (92)
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93. A robotic system comprising:
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a manipulator assembly for robotically moving a distal end effector relative to a proximal base, the manipulator assembly having a plurality of joints;
an input for receiving commands to effect desired movements of the end effector; and
a processor coupling the input to the manipulator assembly, the processor determining movements of the joints in response to the command so as to move the end effector with the desired movements, the processor configured to conform with an external articulation of the manipulator when the external articulation exceeds a threshold so that at least some of the movements of the joints are determined in part in response to the threshold-exceeding external articulation. - View Dependent Claims (94, 95, 96, 97, 98)
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99. A robotic method comprising:
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receiving commands to effect desired movements of the end effector with an input;
moving a distal end effector relative to a proximal base of a manipulator assembly by robotically articulating a plurality of joints in response to the commands;
externally articulating the manipulator by exceeding an articulation threshold;
determining movements of the joints in response to the command so as to move the end effector with the desired movements, wherein at least some of the movements of the joints are determined in part in response to the threshold-exceeding external articulation.
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Specification