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Systems and methods for cancellation of joint motion using the null-space

  • US 9,107,683 B2
  • Filed: 08/15/2013
  • Issued: 08/18/2015
  • Est. Priority Date: 09/17/1999
  • Status: Active Grant
First Claim
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1. A tele-surgical method comprising:

  • providing a manipulator arm including a movable distal surgical end effector, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given distal portion state;

    receiving a manipulation command to move the end effector with a desired end effector movement;

    calculating an end effector displacing movement of the plurality of joints to effect the desired end effector movement, wherein calculating the end effector displacing movement of the joints comprises calculating joint velocities within a null-perpendicular-space of a Jacobian matrix for the joints, wherein the calculated joint velocities include a calculated velocity of a designated non-moving subset of joints, and wherein the non-moving subset of joints comprises one or more of the plurality of joints;

    calculating a cancellation movement of the plurality of joints to cancel the calculated velocity of the non-moving subset of joints, wherein calculating the cancellation movement comprises calculating joint velocities of the plurality of joints within a null-space of the Jacobian, the null-space being orthogonal to the null-perpendicular space; and

    driving the joints according to the calculated movements so as to effect the desired end effector movement and inhibit movement of the non-moving subset of the joints.

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