Manipulator arm-to-patient collision avoidance using a null-space

• US 9,757,203 B2
• Filed: 11/14/2016
• Issued: 09/12/2017
• 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 M., Hingwe, Pushkar, Schena, Bruce Michael, Devengenzo, Roman L.
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US15/351,254
• Publication Number:
  US 20170056117A1
• Time in Patent Office: 302 Days
• Field of Search: None
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/39135 For multiple manipulators operating at same time, avoid collision
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/40371 Control trajectory to avoid joint limit as well as obstacle collision
• CPC Class Codes: G05B 2219/40471 Using gradient method
• CPC Class Codes: G05B 2219/40492 Model manipulator by spheres for collision avoidance
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator

Abstract

Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.

Claims

1. A system comprising:

a base;

a manipulator arm comprising a proximal portion coupled to the base, a movable distal portion, and a plurality of joints between the base and the distal portion, the plurality of joints together having sufficient degrees of freedom to allow a range of different joint states of the plurality of joints for a given pose of the distal portion of the manipulator arm;

an input device; and

a processor-based controller coupled to the manipulator arm and to the input device, the controller being configured to perform operations including;

receiving a manipulation command from the input device to move the distal portion of the manipulator arm with a first movement at a surgical work site of a patient;

calculating a displacing movement of the plurality of joints of the manipulator arm in response to the manipulation command so as to implement the first movement, wherein calculating the displacing movement comprises calculating joint movement within a null-perpendicular space of a Jacobian, the null-perpendicular space being orthogonal to a null-space of the Jacobian;

calculating an avoidance movement of the plurality of joints of the manipulator arm within the null-space of the Jacobian so as to implement a clearance between the manipulator arm and an outer surface of the patient within a range of motion of the manipulator arm; and

driving the plurality of joints of the manipulator arm according to the displacing movement and the avoidance movement.

2. The system of claim 1, wherein the controller is further configured to calculate a distance between an avoidance geometry of the manipulator arm and an obstacle surface, the obstacle surface corresponding to the patient outer surface, and the avoidance geometry corresponding to a portion of the manipulator for which clearance from the patient outer surface is desired.

3. The system of claim 2, wherein the controller is further configured to drive the plurality of joints according to the calculated avoidance movement in response to a determination by the controller that the distance between the avoidance geometry and obstacle surface is less than desired.

4. The system of claim 2, wherein

the distal portion comprises a surgical instrument having an elongate shaft extending distally to a surgical end effector;

the displacing movement is calculated to effect a desired end effector state; and

the avoidance movement of the plurality of joints is calculated so as to maintain the desired end effector state.

5. The system of claim 2, wherein

the manipulator arm is configured to support a tool having a shaft with an intermediate portion extending along an insertion axis of the tool to a distal end effector;

and

at least some joints of the plurality of joints mechanically constrain movement of the distal portion relative to the base so that the distal portion of the manipulator arm pivots about a remote center disposed adjacent the insertion axis to facilitate movement of the end effector within the surgical work site, wherein the work site is accessed through an insertion opening.

6. The system of claim 5, wherein the controller is further configured to determine the obstacle surface by approximating or modeling a surface that intersects with the remote center.

7. The system of claim 5, wherein

the system comprises one or more additional manipulator arms, each having a remote center;

and

the processor is configured to determine the obstacle surface by approximating or modeling the surface so as to intersect with each of the remote center positions.

8. The system of claim 1, wherein the controller is configured to calculate end effector displacing movement so as to not drive one or more joints and to calculate the avoidance movement so as to include driving of the one or more joints.

9. The system of claim 8, wherein the one or more joints includes a first joint that pivots the insertion axis about an axis of the first joint, the axis extending through the remote center.

10. The system of claim 9, wherein an intermediate link is disposed proximal of and adjacent to the distal portion with the first joint therebetween, the first joint comprising a revolute joint mechanically constraining movement of the distal portion relative to the intermediate link to rotation about a first joint axis, the first joint axis extending from a second joint distally toward the intermediate link so as to intersect the insertion axis through the remote center.

11. A system comprising:

a base;

a manipulator arm comprising a proximal portion coupled to the base, a movable distal portion, and a plurality of joints that kinematically couple a plurality of links between the base and the distal portion, the plurality of links together having sufficient degrees of freedom to allow a range of different link states of the plurality of links for a given pose of the distal portion of the manipulator arm;

an input device; and

a processor-based controller coupled to the manipulator arm and to the input device, the controller being configured to perform operations including;

receiving a manipulation command from the input device to move the distal portion of the manipulator arm with a first movement at a surgical work site of a patient;

calculating a displacing movement of the plurality of joints of the manipulator arm in response to the manipulation command so as to implement the first movement, wherein calculating the displacing movement comprises calculating link movement within a null-perpendicular space of a Jacobian, the null-perpendicular space being orthogonal to a null-space of the Jacobian;

calculating an avoidance movement of the plurality of links of the manipulator arm within the null-space of the Jacobian so as to implement a clearance between the manipulator arm and an outer surface of the patient within a range of motion of the manipulator arm; and

driving the plurality of joints that kinematically couple the plurality of links of the manipulator arm according to the displacing movement and the avoidance movement.

12. The system of claim 11, wherein the controller is further configured to calculate a distance between an avoidance geometry of the manipulator arm and an obstacle surface, the obstacle surface corresponding to the patient outer surface, and the avoidance geometry corresponding to a portion of the manipulator for which clearance from the patient outer surface is desired.

13. The system of claim 12, wherein the controller is further configured to drive the plurality of joints according to the calculated avoidance movement in response to a determination by the controller that the distance between the avoidance geometry and obstacle surface is less than desired.

14. The system of claim 12, wherein

the distal portion comprises a surgical instrument having an elongate shaft extending distally to a surgical end effector;

the displacing movement is calculated to effect a desired end effector state; and

the avoidance movement of the plurality of joints is calculated so as to maintain the desired end effector state.

15. The system of claim 12, wherein

the manipulator arm is configured to support a tool having a shaft with an intermediate portion extending along an insertion axis of the tool to a distal end effector;

and

at least some joints of the plurality of joints mechanically constrain movement of the distal portion relative to the base so that the distal portion of the manipulator arm pivots about a remote center disposed adjacent the insertion axis to facilitate movement of the end effector within the surgical work site, wherein the work site is accessed through an insertion opening.

16. The system of claim 15, wherein the controller is further configured to determine the obstacle surface by approximating or modeling a surface that intersects with the remote center.

17. The system of claim 15, wherein

the system comprises one or more additional manipulator arms, each having a remote center;

and

the processor is configured to determine the obstacle surface by approximating or modeling the surface so as to intersect with each of the remote center positions.

18. The system of claim 11, wherein the controller is configured to calculate end effector displacing movement so as to not drive one or more joints and to calculate the avoidance movement so as to include driving of the one or more joints.

19. The system of claim 18, wherein the one or more joints includes a first joint that pivots the insertion axis about an axis of the first joint, the axis extending through the remote center.

20. The system of claim 19, wherein an intermediate link is disposed proximal of and adjacent to the distal portion with the first joint therebetween, the first joint comprising a revolute joint mechanically constraining movement of the distal portion relative to the intermediate link to rotation about a first joint axis, the first joint axis extending from a second joint distally toward the intermediate link so as to intersect the insertion axis through the remote center.