System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement

• US 9,415,510 B2
• Filed: 03/18/2014
• Issued: 08/16/2016
• Est. Priority Date: 09/17/1999
• 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, Swarup, Nitish
• Primary Examiner(s): Luo, David S
• Application Number:
  US14/218,788
• Publication Number:
  US 20140276952A1
• Time in Patent Office: 882 Days
• Field of Search: 318/568.11, 318/568.1, 318/567, 318/560
• US Class Current: 1/1
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: B25J 18/007 the end effector rotating around a fixed point
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: B25J 9/1638 compensation for arm bending/inertia, pay load weight/inertia
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones

Abstract

Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

Claims

1. A robotic method comprising:

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

floating a first set of joints of the plurality of joints within a null-perpendicular space of a Jacobian, the first set of joints associated with a position of the end effector within the work space, wherein the null-perpendicular space is a joint velocity space in which movement of the first set of joints results in movement of the end effector;

sensing a manual backdriving movement of the end effector to a desired position within the work space;

calculating an auxiliary movement of a second set of joints of the plurality of joints to effect a desired movement of a proximal portion of the manipulator arm, wherein calculating the auxiliary movement comprises calculating joint velocities of the second set of joints within a null-space of the Jacobian, the null-space being orthogonal to the null-perpendicular space; and

driving the second set of joints according to the calculated auxiliary movement concurrent with floating of the first set of joints.

2. The robotic method of claim 1, wherein the desired position of the end effector comprises a position and/or alignment of the end effector within the work space so as to allow for insertion of the distal end effector through a cannula or positioning of the end effector adjacent a minimally invasive aperture.

3. The robotic method of claim 1, wherein the desired state or movement of the proximal portion of the manipulator arm is any or all of a desired position, velocity, configuration, pose, reconfiguration movement, or collision avoidance movement of the manipulator arm within the work space.

4. The robotic method of claim 3, wherein the desired state or movement of the proximal portion of the manipulator arm comprises a state or movement of a portion of the manipulator arm proximal the distal end effector.

5. The robotic method of claim 1, wherein each of the first and second set of joints includes one or more joints.

6. The robotic method of claim 1, wherein the first and second set of joints includes one or more joints in common.

7. The robotic method of claim 1, wherein floating of the first set of joints, calculating the auxiliary movement, and driving the joints according to the auxiliary movement occurs within a first clutch mode of a processor determining movement of the joints, the processor further having a tissue manipulation mode, the method further comprising:

receiving a tissue manipulation command from a user input to move the end effector to effect a desired tissue manipulation;

calculating a manipulation movement of the plurality of joints in response to the tissue manipulation command so as to move the manipulator with the desired movement.

8. The robotic method of claim 7, wherein when in the tissue manipulation mode, the method further comprises:

calculating an auxiliary movement of a subset of joints of the plurality of joints to effect a desired state or movement of the manipulator arm during tissue manipulation, wherein calculating the auxiliary movement comprises calculating joint velocities of the subset of joints within the null-space; and

driving the subset of joints according to the calculated auxiliary movement and manipulation movement so as to move the end effector according to the commanded manipulation movement concurrent with the desired movement of the manipulator arm.

9. The robotic method of claim 1, wherein the manipulator arm is configured to support a tool having an intermediate portion with the intermediate portion extending along an insertion axis distally of the proximal portion and the end effector is at a distal end of the intermediate portion, wherein at least some of the joints mechanically constrain movement of the tool relative to the base such that the tool of the manipulator arm pivots about a remote center disposed along the insertion axis to facilitate movement of the end effector at a work site accessed through a minimally invasive aperture.

10. The robotic method of claim 9, wherein a portion of the manipulator arm adjacent the end effector is mechanically constrained relative to the base such that an instrument shaft of the end effector pivots about a remote center when the constrained portion moves.

11. The robotic method of claim 9, wherein a first joint of the plurality of joints couples the proximal portion to the base, the first joint comprising a revolute joint that supports the distal portion of the manipulator arm such that joint movement of the revolute joint pivots the distal portion of the manipulator arm about a pivotal axis of the revolute joint, wherein the pivotal axis extends from the revolute joint and through the remote center so that the insertion axis of the manipulator arm moves along a distally tapered cone oriented towards the remote center.

12. The robotic method of claim 11, wherein the second set of joints includes the first joint.

13. A robotic method comprising:

providing a manipulator arm including a movable distal end effector, a proximal portion coupled to a base, and a plurality of joints between the end effector and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given end effector state within a surgical work space, wherein the end effector comprises an instrument shaft that pivots about a remote center adjacent a minimally invasive aperture within the work space during a surgical procedure;

floating a first set of joints of the plurality of joints within a null-perpendicular space of a Jacobian, wherein the null-perpendicular space is a joint velocity space in which movement of the first set of joints results in movement of the distal end effector within the work space;

driving the plurality of joints so as to maintain the remote center at a controlled position in the work space;

sensing a manual backdriving movement of the distal end effector to a desired position within the work space;

calculating an auxiliary movement of a second set of the plurality of joints to effect a desired movement of the manipulator arm, wherein calculating the auxiliary movement comprises calculating joint velocities of the second set of joints within a null-space of the Jacobian, the null-space being orthogonal to the null-perpendicular space, wherein the null-space is a joint velocity space in which joint movement maintains the state of the end effector; and

driving the second set of joints according to the calculated auxiliary movement concurrent with maintaining the position of the remote center and the desired movement of the manipulator arm.

14. The robotic method of claim 13, wherein the first and second set of joints include one or more joints in common.

15. The robotic method of claim 13, wherein the controlled position comprises a fixed location within the work space.

16. A robotic method comprising:

providing a manipulator arm including a movable distal end effector, a proximal portion coupled to a base, and a plurality of joints between the end effector and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given end effector state, wherein the distal end effector comprises an instrument shaft that pivots about a remote center adjacent a minimally invasive aperture within a surgical work space during a surgical procedure;

floating a first set of the plurality of joints within a null-perpendicular space of a Jacobian, wherein the null-perpendicular space is a joint velocity sub-space in which movement of the joints results in movement of the remote center within the work space;

driving the plurality of joints so as to maintain a controlled position of the end effector within the work space;

sensing a manual backdriving movement of the remote center to a desired location within the work space;

calculating an auxiliary movement of a second set of the plurality of joints to effect a desired movement of the manipulator arm, wherein calculating the auxiliary movement comprises calculating joint velocities of the second set of joints within a null-space of the Jacobian, the null-space being orthogonal to the null-perpendicular space, wherein the null-space is a joint velocity space in which joint movement maintains a state of the distal end effector; and

driving the second set of joints according to the calculated auxiliary movement during floating of the first set of joints concurrent with maintaining the controlled position of the end effector and the desired movement of the manipulator arm.

17. The robotic method of claim 16, wherein the first and second set of joints include one or more joints in common.

18. The robotic method of claim 17, wherein the controlled position comprises a fixed position or alignment of the end effector relative the remote center.

19. The robotic method of claim 17, wherein the controlled position comprises a fixed position or alignment of the end effector within the work space.

20. A robotic method comprising:

providing a manipulator arm including a movable distal end effector, a proximal portion coupled to a base, and a plurality of joints between the end effector and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given end effector state within a surgical work space, wherein the end effector comprises an instrument shaft that pivots about a remote center adjacent a minimally invasive aperture within the work space during a surgical procedure;

floating a first set of joints of the plurality of joints within a null-perpendicular space of a Jacobian, wherein the null-perpendicular space is a joint velocity sub-space in which joint movement results in movement of both a position of the distal end effector and a location of the remote center within the work space;

sensing manual backdriving movement of the end effector to a desired position within the work space and movement of the remote center to a desired location within the work space;

calculating an auxiliary movement of a second set of joints of the plurality of joints to effect a desired state or movement of the manipulator arm, wherein calculating the auxiliary movement comprises calculating joint velocities of the second set of joints within a null-space of the Jacobian, the null-space being orthogonal to the null-perpendicular space, wherein the null-space is a joint velocity sub-space in which movement of the second set of joints maintains a state of the end effector and the remote center; and

driving the second set of joints according to the calculated auxiliary movement while floating the first set of joints so as to allow manual backdriving movement of both the distal end effector and remote center to a desired position and location, respectively, within the work space concurrent with the desired state or movement of the manipulator arm.

21. A robotic system comprising:

a manipulator arm configured for robotically moving a distal end effector relative to a proximal base, the manipulator arm having a plurality of joints between the end effector and a proximal portion coupled to the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given end effector state within a surgical work space, wherein the end effector comprises an instrument shaft that pivots about a remote center adjacent a minimally invasive aperture within the work space during a surgical procedure;

an input for receiving a manipulation command to effect a desired tissue manipulation movement of the end effector; and

a processor coupling the input to the manipulator arm, comprising a manipulation mode and a clutch mode,

the processor in the manipulation mode configured to calculate joint movements to provide the desired end effector movement in response to the manipulation command,

the processor in the clutch mode configured to;

float a first set of joints of the plurality of joints within a null-perpendicular space of a Jacobian to allow manual backdriving movement of the end effector to a desired position within the work space, wherein the null-perpendicular space is a joint velocity sub-space in which movement of the joints results in movement of the end effector;

calculate an auxiliary movement of a second set of joints of the plurality of joints to effect a desired movement of the manipulator arm, wherein calculating the auxiliary movement comprises calculating joint velocities of the second set of joints within a null-space of the Jacobian, the null-space being orthogonal to the null-perpendicular space; and

drive the second set of joints according to the calculated auxiliary movement concurrent with floating of the first set of joints.

22. The robotic system of claim 21, wherein in the clutch mode, the processor is configured to float the first set of joints concurrent with calculating the auxiliary movement and driving the second set of joints according to the calculated auxiliary movement.

23. The robotic system of claim 21, wherein the desired position of the end effector comprises a position and/or alignment of the end effector within the work space so as to allow insertion of the distal end effector through a cannula or positioning of the end effector adjacent a minimally invasive aperture.

24. The robotic system of claim 21, wherein the desired state or movement of the manipulator arm is any or all of a desired position, velocity, configuration, pose, reconfiguration movement, or collision avoidance movement of the manipulator arm within the work space.

25. The robotic system of claim 21, wherein the manipulator is configured such that each of the first and second set of joints includes one or more joints.

26. The robotic system of claim 21, wherein the manipulator is configured such that the first and second set of joints includes one or more joints in common.

27. The robotic system of claim 21, wherein a first joint of the plurality of joints that couples the proximal portion to the base is a revolute joint that supports the joints of the manipulator arm such that joint movement of the revolute joint pivots one or more joints of the manipulator arm about a pivotal axis of the revolute joint, the pivotal axis extending from the revolute joint through a shaft of the end effector.

28. The robotic system of claim 21, wherein one or both of the first and second set of joints includes the first joint.

29. The robotic system of claim 21, wherein the joints of the manipulator comprise remote center joints configured to mechanically constrain movement of a distal portion of the manipulator arm to pivot about a remote center pivot point along an insertion axis adjacent a minimally invasive aperture and wherein the processor is further configured to drive the joints to maintain the intermediate portion at the pivot point.

30. A robotic system comprising:

a manipulator arm configured for robotically moving a distal end effector relative to a proximal base, the manipulator arm having a plurality of joints between the end effector and a proximal portion coupled to the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given end effector state within a surgical work space, wherein the end effector comprises an instrument shaft that pivots about a remote center adjacent a minimally invasive aperture within the work space during a surgical procedure;

an input for receiving a manipulation command to effect a desired manipulation movement of the end effector; and

a processor coupling the input to the manipulator arm, the processor configured to with a manipulation mode and a clutch mode,

the processor in the manipulation mode configured to calculate movement of the joints in response to the command so as to move the end effector with the desired manipulation movement, and

the processor in the clutch mode configured to;

float a first set of joints of the plurality of joints within a null-perpendicular space of a Jacobian to allow manual backdriving movement of the end effector and/or an associated remote center about which the end effector pivots, wherein the null-perpendicular space is a joint velocity sub-space in which movement of the first set of joints results in movement of the end effector and/or the remote center within the work space;

calculate an auxiliary movement of a second set of joints of the plurality of joints to effect a desired movement of the manipulator arm, wherein calculating the auxiliary movement comprises calculating joint velocities of the second set of joints within a null-space of the Jacobian, the null-space being orthogonal to the null-perpendicular space, wherein the null-space is a joint velocity sub-space in which joint movement maintains the state of the end effector and/or associated remote center; and

drive the second set of joints according to the calculated auxiliary movement concurrent with the desired movement of the end effector and/or associated remote center.

31. The robotic system of claim 30, wherein the processor in the clutch mode is configured such that the null-perpendicular space is a joint velocity sub-space in which movement of the joints results in movement of the distal end effector within the work space, and

wherein the processor is further configured to calculate movement of the plurality of joints in the clutch mode so as to maintain the remote center at a controlled position.

32. The robotic system of claim 30, wherein the processor in the clutch mode is configured such that the null-perpendicular space is a joint velocity sub-space in which movement of the joints results in movement of the remote center within the work space, and

wherein the processor is further configured to calculate movement of the plurality of joints in the clutch mode so as to maintain the end effector at a controlled position concurrent with floating the first set of joints to allow movement of the remote center and the desired movement of the manipulator arm.

33. The robotic system of claim 32, wherein the controlled position of the remote center comprises a fixed position or alignment of the end effector relative the remote center.

34. The robotic system of claim 32, wherein the controlled position of the remote center comprises a fixed position or alignment of the end effector within the work space.

35. The robotic system of claim 30, wherein the processor in the clutch mode is configured such that the null-perpendicular space is a joint velocity sub-space in which joint movement results in movement of both a position of the distal end effector and a location of the remote center within the work space, and

the processor in the clutch mode is further configured to drive the second set of joints according to the calculated auxiliary movement while floating the first set of joints so as to allow manual backdriving movement of both the distal end effector and remote center to a desired position and location, respectively, within the work space concurrent with providing the desired state or movement of the manipulator arm.