Software center and highly configurable robotic systems for surgery and other uses
First Claim
Patent Images
1. A tele-surgical system comprising:
- a first manipulator assembly comprising a first surgical instrument supported by a first manipulator, wherein the first surgical instrument includes a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion between the proximal end and the distal end effector, wherein thefirst manipulator is configured to support the proximal end of the first surgical instrument so as to move the first surgical instrument from outside the patient wherein the first manipulator assembly includes a plurality of driven joints, the plurality of driven joints providing sufficient degrees of freedom to allow a range of joint states for a position of the end effector while the intermediate portion passes through an access site, and wherein a range of configurations for the first manipulator assembly includes a first pre-determined configuration;
an input for receiving a movement command to effect a desired movement of the end effector of the first surgical instrument within a surgical workspace;
a second manipulator assembly comprising a second surgical instrument supported by a second manipulator, wherein a range of configurations for the second manipulator assembly includes a second pre-determined configuration that is different from the first pre-determined configuration such that when the first manipulator assembly having the first configuration is disposed adjacent the second manipulator assembly in the second configuration, overall configurations of the system in which first and second manipulators collide are reduced; and
a processor coupling the input to the first manipulator assembly,wherein the processor is configured to determine movements of the plurality of driven joints in response to the movement command so that the intermediate portion of the first surgical instrument is within the access site during the desired movement of the end effector, wherein the processor is configured to move the second manipulator assembly in response to commands of the processor, andwherein the processor is configured to calculate movements of the plurality of driven joints in response to signals associated with movement of the second manipulator assembly so that the first manipulator assembly driven to the first pre-determined configuration is disposed adjacent the second manipulator assembly driven to the second pre-determined configuration so as to inhibit collisions between the first manipulator and the second manipulator.
0 Assignments
0 Petitions
Accused Products
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.
-
Citations
22 Claims
-
1. A tele-surgical system comprising:
-
a first manipulator assembly comprising a first surgical instrument supported by a first manipulator, wherein the first surgical instrument includes a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion between the proximal end and the distal end effector, wherein the first manipulator is configured to support the proximal end of the first surgical instrument so as to move the first surgical instrument from outside the patient wherein the first manipulator assembly includes a plurality of driven joints, the plurality of driven joints providing sufficient degrees of freedom to allow a range of joint states for a position of the end effector while the intermediate portion passes through an access site, and wherein a range of configurations for the first manipulator assembly includes a first pre-determined configuration; an input for receiving a movement command to effect a desired movement of the end effector of the first surgical instrument within a surgical workspace; a second manipulator assembly comprising a second surgical instrument supported by a second manipulator, wherein a range of configurations for the second manipulator assembly includes a second pre-determined configuration that is different from the first pre-determined configuration such that when the first manipulator assembly having the first configuration is disposed adjacent the second manipulator assembly in the second configuration, overall configurations of the system in which first and second manipulators collide are reduced; and a processor coupling the input to the first manipulator assembly, wherein the processor is configured to determine movements of the plurality of driven joints in response to the movement command so that the intermediate portion of the first surgical instrument is within the access site during the desired movement of the end effector, wherein the processor is configured to move the second manipulator assembly in response to commands of the processor, and wherein the processor is configured to calculate movements of the plurality of driven joints in response to signals associated with movement of the second manipulator assembly so that the first manipulator assembly driven to the first pre-determined configuration is disposed adjacent the second manipulator assembly driven to the second pre-determined configuration so as to inhibit collisions between the first manipulator and the second manipulator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
-
-
22. A tele-surgical system comprising:
-
a first manipulator assembly comprising a first surgical instrument supported by a first manipulator, wherein the first surgical instrument includes a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion between the proximal end and the distal end effector, wherein the first manipulator is configured to support the proximal end of the first surgical instrument so as to move the first surgical instrument from outside the patient, wherein the first manipulator assembly includes a plurality of driven joints, the plurality of driven joints providing sufficient degrees of freedom to allow a range of joint states for a position of the distal end effector while the intermediate portion passes through an access site; an input for receiving a movement command to effect a desired movement of the distal end effector of the first surgical instrument within a surgical workspace; a processor coupling the input to the first manipulator assembly, the processor configured to determine movements of the plurality of driven joints in response to the movement command so that the intermediate portion of the first surgical instrument is within the access site during the desired movement of the end effector; and a second manipulator assembly comprising a second surgical instrument supported by a second manipulator, the second manipulator moving the second surgical instrument in response to commands of the processor, wherein the processor is configured to calculate movements of the plurality of driven joints of the first manipulator assembly in response to signals associated with movement of the second manipulator assembly so as to inhibit collisions between the first and second manipulators during movement of the first and second manipulator assemblies, wherein the range of configurations for each of the first and second manipulator assemblies includes a first configuration and a second configuration, a joint of the respective manipulator assembly in the first configuration defining a generally upwardly oriented apex, the joint in the second configuration defining a generally downwardly oriented apex, wherein the processor is configured to drive the first and second manipulator assemblies so that the first manipulator assembly in the first configuration is disposed adjacent the second first manipulator assembly in the second configuration.
-
Specification