Software center and highly configurable robotic systems for surgery and other uses
First Claim
Patent Images
1. A surgical robotic system comprising:
- a surgical instrument having a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion between the proximal end and the end effector;
a first manipulator configured to support the proximal end of the instrument so as to move the instrument from outside the patient;
the first manipulator and instrument together comprising a first manipulator assembly having a plurality of driven joints, the plurality of driven joints being configured to provide sufficient degrees of freedom to allow a range of joint states for a position of the end effector while the intermediate portion is within an access site;
an input configured to receive a movement command to effect a desired movement of the end effector within a surgical workspace;
a second manipulator configured to support a second instrument, the second instrument having a distal end effector, the second manipulator and the second instrument together comprising a second manipulator assembly having a plurality of driven joints; and
a processor coupling the input to the first manipulator assembly, the processor being configured to determine movements of the plurality of driven joints of the first manipulator assembly in response to the received movement command so as to effect the desired movement of the end effector of the first instrument and so that the intermediate portion of the first instrument is within the access site during the desired movement of the end effector of the first instrument, the processor being further configured to calculate movements of the plurality of driven joints of the first manipulator assembly so as to drive the first manipulator assembly towards a manipulator collision inhibiting configuration prior to any determination of contact or near contact between the first and second manipulators.
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Abstract
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
373 Citations
20 Claims
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1. A surgical robotic system comprising:
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a surgical instrument having a proximal end, a distal end effector suitable for insertion into a patient, and an intermediate portion between the proximal end and the end effector; a first manipulator configured to support the proximal end of the instrument so as to move the instrument from outside the patient; the first manipulator and instrument together comprising a first manipulator assembly having a plurality of driven joints, the plurality of driven joints being configured to provide sufficient degrees of freedom to allow a range of joint states for a position of the end effector while the intermediate portion is within an access site; an input configured to receive a movement command to effect a desired movement of the end effector within a surgical workspace; a second manipulator configured to support a second instrument, the second instrument having a distal end effector, the second manipulator and the second instrument together comprising a second manipulator assembly having a plurality of driven joints; and a processor coupling the input to the first manipulator assembly, the processor being configured to determine movements of the plurality of driven joints of the first manipulator assembly in response to the received movement command so as to effect the desired movement of the end effector of the first instrument and so that the intermediate portion of the first instrument is within the access site during the desired movement of the end effector of the first instrument, the processor being further configured to calculate movements of the plurality of driven joints of the first manipulator assembly so as to drive the first manipulator assembly towards a manipulator collision inhibiting configuration prior to any determination of contact or near contact between the first and second manipulators. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A master-slave robotic system comprising:
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a first manipulator assembly having a first end effector movable within a workspace, the first manipulator assembly having a plurality of joints, the plurality of joints being configured with a plurality of alternative joint states for a position of the first end effector in the workspace; a second manipulator assembly having a second end effector movable within the workspace, the second manipulator assembly having a plurality of joints and being configured to transmit a state signal indicating movement of the second manipulator assembly; an input device configured to receive an input for a first desired movement of the first end effector within the workspace; and a processor coupled to the input device, the first manipulator assembly, and the second manipulator assembly, the processor being configured to determine a movement of the first manipulator assembly in response to the input for the first desired movement and in response to the or each state signal from the second manipulator assembly so as to drive the first manipulator assembly toward a collision inhibiting configuration prior to any determination of contact or near contact between the first and second manipulators to inhibit collisions between the first and second manipulator assemblies, the processor controlling movement of the first end effector in effecting the first desired movement. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A robotic method comprising:
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robotically moving a first end effector of a first manipulator assembly, the first manipulator assembly having sufficient degrees of freedom to allow a range of alternative joint states for a position of the first end effector in a workspace; robotically moving a second end effector of a second manipulator assembly; generating a signal indicating movement of the second manipulator assembly; receiving an input for a desired movement of the first end effector within the workspace; and calculating a movement of the first manipulator assembly in response to the received input for the first desired movement and the signal so that the first end effector effects the first desired movement and so that the first manipulator moves toward a collision inhibiting configuration to inhibit a collisions between the first and second manipulator assemblies prior to any determination of contact or near contact between the first and second manipulators.
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Specification