MANIPULATOR ARM-TO-PATIENT COLLISION AVOIDANCE USING A NULL-SPACE

• US 20170296277A1
• Filed: 06/30/2017
• Published: 10/19/2017
• Est. Priority Date: 06/01/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Hourtash, Arjang M., Hingwe, Pushkar, Schena, Bruce M., Devengenzo, Roman L.
• Granted Patent: US 10,194,997 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/39135 For multiple manipulators operating at same time, avoid collision
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/40371 Control trajectory to avoid joint limit as well as obstacle collision
• CPC Class Codes: G05B 2219/40471 Using gradient method
• CPC Class Codes: G05B 2219/40492 Model manipulator by spheres for collision avoidance
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator

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.

Claims

1. (canceled)

2. A method for operating a system comprising a base and a manipulator arm, the manipulator arm comprising a proximal portion coupled to the base, a movable distal portion, and a plurality of joints between the base and the distal portion, and the plurality of joints together having sufficient degrees of freedom to allow a range of different joint states of the plurality of joints for a given state of the distal portion, the method comprising:

receiving a manipulation command to effect a desired state of the distal portion within a workspace;

determining a distal-portion displacing movement of the plurality of joints in response to the manipulation command by calculating joint velocities in joint-velocity directions that correspond to the distal portion being in motion;

determining an avoidance movement of the plurality of joints to provide a desired clearance between the manipulator arm and an obstacle surface by calculating joint velocities in joint-velocity directions that correspond to the distal portion not being in motion; and

driving the plurality of joints according to the distal-portion displacing movement and the avoidance movement to effect the desired state of the distal portion and to provide the desired clearance between the manipulator arm and the obstacle surface.

3. The method of claim 2, wherein

the joint-velocity directions that correspond to the distal portion being in motion lie in a null-perpendicular space of a Jacobian associated with the manipulator arm;

and

the joint-velocity directions that correspond to the distal portion not being in motion lie in a null space of the Jacobian associated with the manipulator arm.

4. The method of claim 2, wherein the plurality of joints are driven concurrently according to the distal-portion displacing movement and the avoidance movement.

5. The method of claim 2, wherein the plurality of joints are driven separately according to each of the distal-portion displacing movement and the avoidance movement.

6. The method of claim 2, wherein the distal portion comprises an instrument having an elongate shaft extending distally to an end effector.

7. The method of claim 2, wherein the distal portion is configured to releasably support an instrument having an elongate shaft extending distally to an end effector, the desired state of the distal portion being associated with a desired state the end effector.

8. The method of claim 2, wherein the plurality of joints are driven according to the avoidance movement in response to a determination of an insufficient clearance between the manipulator arm and the obstacle surface.

9. The method of claim 2, further comprising:

determining that a distance between the manipulator arm and the obstacle surface is less than a value that corresponds to the desired clearance, wherein the avoidance movement is determined in response to the determination that the distance with the manipulator arm and the obstacle surface is less than the value that corresponds to the desired clearance.

10. The method of claim 2, further comprising:

determining the obstacle surface by using one or more sensors associated with the manipulator arm;

determining an avoidance geometry corresponding to a movable position of the proximal portion of the manipulator arm; and

determining the avoidance movement in a joint-velocity direction that increases a distance between the obstacle surface and the avoidance geometry.

11. The method of claim 2, further comprising:

determining an avoidance vector between a point on the manipulator arm and a point on the obstacle surface; and

calculating the joint velocities for the avoidance movement by determining from the avoidance vector a combination of the joint-velocity directions that correspond to the distal portion not being in motion, the combination being determined so that a corresponding movement of the manipulator arm increases a distance between the point on the manipulator arm and the point on the obstacle surface.

12. A system comprising:

a base;

a manipulator arm comprising a proximal portion coupled to the base, a movable distal portion, and a plurality of joints between the base and the distal portion, the plurality of joints together having sufficient degrees of freedom to allow a range of different joint states of the plurality of joints for a given state of the distal portion;

an input device configured to receive a manipulation command to effect a desired state of the distal portion within a workspace; and

a processor-based controller coupled to the manipulator arm and to the input device, the controller being configured to perform operations including;

determining a distal-portion displacing movement of the plurality of joints in response to the manipulation command by calculating joint velocities in joint-velocity directions that correspond to the distal portion being in motion;

determining an avoidance movement of the plurality of joints to provide a desired clearance between the manipulator arm and an obstacle surface by calculating joint velocities in joint-velocity directions that correspond to the distal portion not being in motion; and

driving the plurality of joints according to the distal-portion displacing movement and the avoidance movement to effect the desired state of the distal portion and to provide the desired clearance between the manipulator arm and the obstacle surface.

13. The system of claim 12, wherein

the joint-velocity directions that correspond to the distal portion being in motion lie in a null-perpendicular space of a Jacobian associated with the manipulator arm;

and

the joint-velocity directions that correspond to the distal portion not being in motion lie in a null space of the Jacobian associated with the manipulator arm.

14. The system of claim 12, wherein the plurality of joints are driven concurrently according to the distal-portion displacing movement and the avoidance movement.

15. The system of claim 12, wherein the plurality of joints are driven separately according to each of the distal-portion displacing movement and the avoidance movement.

16. The system of claim 12, wherein the distal portion comprises an instrument having an elongate shaft extending distally to an end effector.

17. The system of claim 12, wherein the distal portion is configured to releasably support an instrument having an elongate shaft extending distally to an end effector, the desired state of the distal portion being associated with a desired state the end effector.

18. The system of claim 12, wherein the plurality of joints are driven according to the avoidance movement in response to a determination of an insufficient clearance between the manipulator arm and the obstacle surface.

19. The system of claim 12, wherein the controller is further configured to perform operations including:

determining that a distance between the manipulator arm and the obstacle surface is less than a value that corresponds to the desired clearance, wherein the avoidance movement is determined in response to the determination that the distance with the manipulator arm and the obstacle surface is less than the value that corresponds to the desired clearance.

20. The system of claim 12, wherein the controller is further configured to perform operations including:

determining the obstacle surface by using one or more sensors associated with the manipulator arm;

determining an avoidance geometry corresponding to a movable position of the proximal portion of the manipulator arm; and

determining the avoidance movement in a joint-velocity direction that increases a distance between the obstacle surface and the avoidance geometry.

21. The system of claim 12, wherein the controller is further configured to perform operations including:

determining an avoidance vector between a point on the manipulator arm and a point on the obstacle surface; and

calculating the joint velocities for the avoidance movement by determining from the avoidance vector a combination of the joint-velocity directions that correspond to the distal portion not being in motion, the combination being determined so that a corresponding movement of the manipulator arm increases a distance between the point on the manipulator arm and the point on the obstacle surface.

22. A non-transitory readable memory storing instructions for operating a system comprising a base and a manipulator arm, the manipulator arm comprising a proximal portion coupled to the base, a movable distal portion, and a plurality of joints between the base and the distal portion, and the plurality of joints together having sufficient degrees of freedom to allow a range of different joint states of the plurality of joints for a given state of the distal portion, the instructions being executable by a processor to perform operations including:

receiving a manipulation command to effect a desired state of the distal portion within a workspace;

determining a distal-portion displacing movement of the plurality of joints in response to the manipulation command by calculating joint velocities in joint-velocity directions that correspond to the distal portion being in motion;

determining an avoidance movement of the plurality of joints to provide a desired clearance between the manipulator arm and an obstacle surface by calculating joint velocities in joint-velocity directions that correspond to the distal portion not being in motion; and

driving the plurality of joints according to the distal-portion displacing movement and the avoidance movement to effect the desired state of the distal portion and to provide the desired clearance between the manipulator arm and the obstacle surface.