Software center and highly configurable robotic systems for surgery and other uses
First Claim
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1. A robotic system comprising:
- a manipulator assembly configured to robotically move a distal end effector relative to a proximal base, the manipulator assembly having a linkage extending distally between the base and the end effector, the linkage having a plurality of joints, the plurality of joints being configured to provide sufficient degrees of freedom to allow a range of joint states for a position of the end effector;
an input configured to receive a command to effect a desired movement of the end effector;
a force sensor system configured to sense an external articulation of at least one joint of the plurality of joints, the external articulation comprising a force applied against the manipulator assembly by a tissue adjacent a minimally invasive access site in a patient; and
a processor coupling the input to the manipulator assembly and coupled to the force sensing system, the processor being configured to determine movements of the plurality of joints in response to the command so as to move the end effector with the desired movement, the processor being further configured to drive at least one other joint of the plurality of joints in response to the external articulation sensed by the force sensor system such that the commanded desired movement of the end effector is maintained.
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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
22 Claims
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1. A robotic system comprising:
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a manipulator assembly configured to robotically move a distal end effector relative to a proximal base, the manipulator assembly having a linkage extending distally between the base and the end effector, the linkage having a plurality of joints, the plurality of joints being configured to provide sufficient degrees of freedom to allow a range of joint states for a position of the end effector; an input configured to receive a command to effect a desired movement of the end effector; a force sensor system configured to sense an external articulation of at least one joint of the plurality of joints, the external articulation comprising a force applied against the manipulator assembly by a tissue adjacent a minimally invasive access site in a patient; and a processor coupling the input to the manipulator assembly and coupled to the force sensing system, the processor being configured to determine movements of the plurality of joints in response to the command so as to move the end effector with the desired movement, the processor being further configured to drive at least one other joint of the plurality of joints in response to the external articulation sensed by the force sensor system such that the commanded desired movement of the end effector is maintained. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A robotic system comprising:
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a manipulator assembly configured to robotically move a distal end effector relative to a proximal base, the manipulator assembly having a linkage extending distally between the base and the distal end effector, the linkage having a plurality of joints; an input configured to receive commands to effect desired movements of the end effector; a force sensor system coupled to the manipulator assembly, the force sensor system being configured to sense an external articulation of the manipulator assembly; and a processor coupling the input to the manipulator assembly and to the force sensor system, the processor being configured to determine movements of the joints in response to the command so as to move the end effector with the desired movements, the processor being further configured to conform with the external articulation of the manipulator assembly when the sensed external articulation exceeds a threshold so that at least some of the movements of the plurality of joints are determined in part in response to the threshold-exceeding external articulation, wherein the processor is configured to conform with the sensed external articulation of the manipulator assembly by driving at least one joint of the plurality of joints in response to the threshold-exceeding external articulation of another joint of the plurality of joints such that the commanded desired movements of the end effector are maintained. - View Dependent Claims (18, 19)
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20. A robotic method comprising:
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receiving a command from an input to effect a desired movement of a distal end effector of a manipulator assembly relative to a proximal base, the manipulator assembly comprising a linkage extending between the base and the distal end effector; sensing an external articulation of the manipulator assembly that exceeds an articulation force threshold; and moving the distal end effector relative to the proximal base of the manipulator assembly by robotically articulating a plurality of joints of the linkage of the manipulator assembly; wherein robotically articulating the plurality of joints comprises determining movements of the plurality of joints in response to the received command so as to move the end effector with the desired movement, and determining movements of the plurality of joints in response to the external articulation that results from exceeding the articulation force threshold by driving at least one joint of the plurality of joints in response to the threshold-exceeding external articulation of another joint of the plurality of joints such that the desired movement of the end effector according to the input command is maintained.
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21. A robotic method comprising:
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receiving a command from an input to effect a desired state of a distal end effector of a manipulator assembly, the manipulator assembly comprising a linkage extending between a proximal base and the distal end effector, the manipulator assembly being configured to effect the desired state of the end effector according to the received input command, the desired state being a position or motion state of the end effector relative to the base; sensing an external articulation of a joint of a plurality of joints of the linkage of the manipulator assembly; determining movements of the plurality of joints in response to the external articulation if the sensed external articulation exceeds an articulation force threshold; and driving at least one of the joints of the plurality of joints in response to the threshold-exceeding external articulation such that the commanded desired state of the end effector is maintained. - View Dependent Claims (22)
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Specification