Smooth control of an articulated instrument across areas with different work space conditions

• US 8,903,546 B2
• Filed: 08/15/2009
• Issued: 12/02/2014
• Est. Priority Date: 08/15/2009
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Diolaiti, Nicola, Lilagan, Paul E.
• Primary Examiner(s): Holloway, Jason
• Assistant Examiner(s): Sample, Jonathan L
• Application Number:
  US12/541,913
• Publication Number:
  US 20110040404A1
• Time in Patent Office: 1,935 Days
• Field of Search: None
• US Class Current: 700/245
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: Y10S 901/14 Arm movement, spatial
• CPC Class Codes: Y10S 901/15 Jointed arm
• CPC Class Codes: Y10S 901/16 Cartesian, three degrees of freedom
• CPC Class Codes: Y10S 901/41 Tool

Abstract

An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.

Claims

1. A medical robotic system comprising:

an articulated instrument having a plurality of joints;

an input device; and

a controller configured to command actuation of the plurality of joints in response to manipulation of the input device subject to a virtual barrier constraint in which commanded translational movement of a joint of the plurality of joints from a current area in which the joint has current work space limits to a new area in which the joint has new work space limits is prevented until deployment of the joint satisfies the new work space limits, wherein the current and new work space limits are different in at least an allowable range of angular rotation of the joint.

2. The medical robotic system according to claim 1, wherein the controller is configured to command actuation of the plurality of joints in response to manipulation of the input device subject to a ratcheting constraint in which the current work space limits are dynamically altered so as to approach the new work space limits as the joint is commanded to the deployment that satisfies the new work space limits while the commanded translational movement of the joint from the current area to the new area is being prevented by the virtual barrier constraint.

3. The medical robotic system according to claim 2, wherein the controller is further configured to provide a nudging force on the input device when a current deployment of the joint approaches within a threshold of the deployment of the joint that satisfies the new work space limits, to coax an operator of the input device to manipulate the input device so that the controller commands actuation of the joint to the deployment that satisfies the new work space limits.

4. The medical robotic system according to claim 3, wherein the controller is configured to generate the commanded actuation of the using a limited difference between a desired state of the articulated instrument as indicated by manipulation of the input device and a current state of the articulated instrument, and the limit for the limited difference is selected so as to avoid abrupt changes in actuation of the joint as the joint crosses from the current area to the new area.

5. The medical robotic system according to claim 3, further comprising a guide tube, wherein the virtual barrier constraint is performed when the joint is at a threshold distance from a distal end of the guide tube.

6. The medical robotic system according to claim 5, wherein the controller is configured to impose the virtual barrier and ratcheting constraints only when the articulated instrument is being retracted into the guide tube.

7. The medical robotic system according to claim 5, wherein the guide tube is a further extending one of a cannula and an entry guide, wherein the entry guide extends inside the cannula and the articulated instrument extends inside the entry guide.

8. The medical robotic system according to claim 5, wherein the new work space limits are defined by available space in a passage in the guide tube through which the articulated instrument extends.

9. The medical robotic system according to claim 8, wherein the articulated instrument further has a plurality of links coupled together by the plurality of joints, and the new work space limits are defined so that links coupled to joints inside the passage fit within the passage.

10. The medical robotic system according to claim 9, wherein the articulated instrument has an end effector coupled to a wrist joint of the plurality of joints and the new work space limits are defined so as to allow the end effector to interact with an object introduced through a lateral fenestration of the guide tube when the end effector is retracted into the passage of the guide tube.

11. A method for controlling a plurality of joints of an articulated instrument, the method comprising:

commanding actuation of the plurality of joints in response to manipulation of an input device subject to a virtual barrier constraint in which commanded translational movement of a joint of the plurality of joints from a current area in which the joint has current work space limits to a new area in which the joint has new work space limits is prevented until deployment of the joint satisfies the new work space limits, wherein the current and new work space limits are different in at least an allowable range of angular rotation of the joint.

12. The method according to claim 11, wherein the commanding of the actuation of the plurality of is subject to a ratcheting constraint in which the current work space limits are dynamically altered so as to approach the new work space limits as the joint is commanded to the deployment that satisfies the new work space limits while the commanded translational movement of the joint from the current area to the new area is being prevented by the virtual barrier constraint.

13. The method according to claim 12, further comprising:

providing a nudging force on the input device when a current deployment of the joint approaches within a threshold of the deployment of the joint that satisfies the new work space limits, to coax an operator of the input device to manipulate the input device so that the actuation of the joint is commanded to the deployment that satisfies the new work space limits.

14. The method according to claim 13, further comprising:

generating the commanded actuation of the joint using a limited difference between a desired state of the articulated instrument as indicated by manipulation of the input device and a current state of the articulated instrument, wherein the limit for the limited difference is selected so as to avoid abrupt changes in actuation of the joint as the joint crosses from the current area to the new area.

15. The method according to claim 13, wherein the virtual barrier constraint is performed when the joint is at a threshold distance from a distal end of a guide tube through which the articulated instrument at least partially extends.

16. The method according to claim 15, wherein the imposing of the virtual barrier and ratcheting constraints is performed only when the articulated instrument is being retracted into the guide tube.

17. The method according to claim 15, wherein the guide tube is a further extending one of a cannula and an entry guide, wherein the entry guide extends inside the cannula and the articulated instrument extends inside the entry guide.

18. The method according to claim 15, wherein the new work space limits are defined by available space in a passage in the guide tube through which the articulated instrument extends.

19. The method according to claim 18, wherein the articulated instrument further has a plurality of links coupled together by the plurality of joints, and the new work space limits are defined so that links coupled to joints inside the passage fit within the passage.

20. The method according to claim 19, wherein the articulated instrument has an end effector coupled to a wrist joint of the plurality of joints and the new work space limits are defined so as to allow the end effector to interact with an object introduced through a lateral fenestration of the guide tube when the end effector is retracted into the passage of the guide tube.