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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
First Claim
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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.

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