User initiated break-away clutching of a surgical mounting platform
First Claim
1. A medical device comprising:
- a linkage having a joint;
a drive unit coupled to the linkage; and
a processor coupled with the drive unit, the processor being configured to;
operate the medical device in a first state in which, in response to a first manual effort against the linkage below an articulation threshold, the processor transmits a first signal to the drive unit, the first signal causing the drive unit to inhibit manual articulation from a first pose of the linkage;
operate the medical device in a second state in which, in response to a second manual effort against the linkage exceeding the articulation threshold, the processor transmits a second signal to the drive unit, the second signal causing the drive unit to facilitate a manual articulation from the first pose of the linkage toward a second pose of the linkage; and
operate the medical device in a third state in which, in response to a determining that the linkage is at the second pose of the linkage, the processor transmits a third signal to the drive unit, the third signal causing the drive unit to inhibit manual articulation of the second pose of the linkage.
1 Assignment
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Accused Products
Abstract
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.
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Citations
25 Claims
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1. A medical device comprising:
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a linkage having a joint; a drive unit coupled to the linkage; and a processor coupled with the drive unit, the processor being configured to; operate the medical device in a first state in which, in response to a first manual effort against the linkage below an articulation threshold, the processor transmits a first signal to the drive unit, the first signal causing the drive unit to inhibit manual articulation from a first pose of the linkage; operate the medical device in a second state in which, in response to a second manual effort against the linkage exceeding the articulation threshold, the processor transmits a second signal to the drive unit, the second signal causing the drive unit to facilitate a manual articulation from the first pose of the linkage toward a second pose of the linkage; and operate the medical device in a third state in which, in response to a determining that the linkage is at the second pose of the linkage, the processor transmits a third signal to the drive unit, the third signal causing the drive unit to inhibit manual articulation of the second pose of the linkage. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A surgical system comprising:
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a linkage comprising a joint between a proximal base and an instrument holder configured for releasably supporting a surgical instrument; a drive system coupled to the linkage; a torque sensor system coupled to the joint; and a processor coupling the torque sensor system with the drive system, the processor configured to; operate the surgical system in a first state in which, in response to a first torque sensed by the torque sensor system being below an articulation torque threshold, the processor transmits a first drive signal to the drive system, the first drive signal causing the drive system to inhibit manual articulation from a first joint configuration; operate the surgical system in a second state in which, in response to a second torque sensed by the torque sensor system exceeding the articulation torque threshold, the processor transmits a second drive signal to the drive system, the second drive signal causing the drive system to facilitate a manual articulation from the first joint configuration toward a second joint configuration using a movement torque lower than the articulation torque threshold; and operate the surgical system in a third state where, in response to a determination that the linkage is at the second joint configuration on condition that a velocity of the manual articulation being below a threshold velocity, the processor transmits a third drive signal to the drive system, the third drive signal causing the drive system to inhibit manual articulation from the second joint configuration on condition that a third torque sensed by the torque sensor system being below the articulation torque threshold.
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15. A method comprising:
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operating a medical device comprising a linkage having a joint, a drive unit coupled to the linkage, and a processor coupled to the drive unit in a first state in which, in response to a first manual effort against the linkage below an articulation threshold, the processor transmits a first signal to the drive unit, the first signal causing the drive unit to inhibit manual articulation from a first pose of the linkage; operating the medical device in a second state in which, in response to a second manual effort against the linkage exceeding the articulation threshold, the processor transmits a second signal to the drive unit, the second signal causing the drive unit to facilitate a manual articulation from the first pose of the linkage toward a second pose of the linkage; and operating the medical device in a third state in which, in response to a determining that the linkage is at the second pose of the linkage, the processor transmits a third signal to the drive unit, the third signal causing the drive unit to inhibit manual articulation of the second pose of the linkage. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification