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WO2024145000A1 - Embrayage de manipulateurs et dispositifs et systèmes associés - Google Patents

Embrayage de manipulateurs et dispositifs et systèmes associés Download PDF

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Publication number
WO2024145000A1
WO2024145000A1 PCT/US2023/083541 US2023083541W WO2024145000A1 WO 2024145000 A1 WO2024145000 A1 WO 2024145000A1 US 2023083541 W US2023083541 W US 2023083541W WO 2024145000 A1 WO2024145000 A1 WO 2024145000A1
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WO
WIPO (PCT)
Prior art keywords
manipulator
group
manipulators
arms
manipulator arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2023/083541
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English (en)
Inventor
Steven Manuel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Priority to CN202380092814.XA priority Critical patent/CN120603550A/zh
Priority to EP23844150.5A priority patent/EP4642371A1/fr
Publication of WO2024145000A1 publication Critical patent/WO2024145000A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots

Definitions

  • a patient-side user may need to manually position the manipulators, e.g., from an initial deployed position accomplished by the controller, to achieve docking of the manipulators to patient entry ports.
  • manual movement of the manipulators is used for positioning during certain portions of a case instead of using the input devices at a console because in some systems the input devices of the console are not capable of controlling the joints whose motion is needed.
  • the input devices of the console may control only fine movements at a distal end of a manipulator, such as insertion/removal of an instrument and/or movement of an instrument end effector, but not gross movements of the manipulators as a whole (e.g., movement about more proximal joints of the manipulators).
  • the input devices could control the joints about which movement is desired, it may nevertheless be desired to move the manipulators manually in some circumstances because it may be easier or faster to make a manual movement than to use the input devices.
  • a table-mounted manipulator system may be moved to one end of the table (e.g., for removing sterile drapes therefrom and/or other pre-or post-procedure preparations), but because some manipulators may be coupled to one side of a table while others are coupled to the opposite side, a user may need to make multiple trips along both sides and/or around ends of the table to manually move all of the manipulators, which takes time and effort.
  • the first group clutched mode may allow a user to manually reposition multiple (in some cases all) of the manipulators more rapidly than manually moving the manipulators individually, as manipulation of one or two manipulators by the user can move all manipulators in the group.
  • the first group clutched mode may make certain relatively complex arrangements of the manipulators easier to attain. For example, as noted above, it can be relatively challenging to position the manipulators of a table-mounted manipulator system in the complex arrangement that may be needed for some procedures.
  • the controller may not be able to position the manipulators directly into the poses that are needed for docking instruments held by the manipulators with entry ports due to variability in port positioning (e.g., because patient shapes, sizes, and locations relative to the table may vary).
  • the second group clutched mode may allow the manipulators to be transitioned from a state in which the manipulators are clustered together around the centerline to a state in which the manipulators are spread apart in a lateral direction, or vice versa.
  • the group of manipulators may all fan out or expand laterally away from the centerline in response to one manipulator (or two ipsilateral manipulators) being moved laterally away from the centerline, or in response to two contralateral manipulators being moved laterally apart from one another.
  • the manipulators may be collapsed laterally inward from the spread-out configuration in response to one manipulator (or two ipsilateral manipulators) being manually moved laterally toward the centerline, or two contralateral manipulators being moved laterally together.
  • the first group clutched mode may be used while manipulators are being moved between one end of the table and a position over the table or between an undeployed and deployed states of the manipulators, such as may occur in a preparation phase before a procedure or in a post-procedure phase after completion of a procedure.
  • the second group clutched mode may be used for such motion of the manipulators.
  • some other group clutched mode may be used for such motion of the manipulators. The use of group clutching for such movement may allow a user to grasp just one or two manipulators on a given side of the table and carry all of the manipulators as a group to the desired positions. This avoids the need for the user to make multiple trips along both sides of a table to retrieve all of the manipulators individually, thus saving time and effort.
  • cameras or other sensors may detect which manipulators are being grasped by which users.
  • the system may transmit (e.g., capacitively inject) an electrical signal into the hand grasping a first manipulator and sense for the same signal to be received at a second grasped manipulator — if the signal is received at the second grasped manipulator, then the controller can infer that the same user is grasping both manipulators, whereas if the signal is not received at the second grasped manipulator then it can be inferred that different users are grasping the two manipulators.
  • a token or code such as an RFID tag, bar or QR code, magnetic identification device, or other similar token, may be embedded in a card, badge, wearable item, key fob or the like, and the user may place the token in proximity to a sensor to initiate group clutching (and in some cases, single-manipulator clutching also).
  • the controller may apply different constraints to the group clutch motion, or otherwise drive the motion differently, than in cases in which a user is grasping two manipulators. For instance, in some embodiments the controller may allow translation of the group but not rotation when a single manipulator is grasped but allow both translation and rotation when two manipulators are grasped. Generally, when a force is manually applied to one manipulator, it may be difficult for the controller to distinguish whether this force is being applied by the user to rotate the group or to translate the group.
  • the group clutched motion may differ depending on which portion of the manipulator a user grasped. For example, if the user grasps a proximal or intermediate link assembly of the manipulators, translation of the group may be allowed while rotation is prevented, whereas if the user grasped the manipulators on a distal link assembly both translation and rotation may be allowed.
  • multiple clutch inputs may be provided along the manipulator to allow the controller to identify where the user is grasping.
  • visual or other sensors may be used to detect where on the manipulator the user is grasping.
  • clutch inputs are provided on the manipulators to allow for initiation of clutched motion (either single-manipulator, group clutching, or both), additional clutch inputs are provided elsewhere in the system (e.g., at a console) to allow for initiation of clutched motion (either single-manipulator, group clutching, or both), and/or break-away clutching is also provided to allow for initiation of clutched motion (either single-manipulator, group clutching, or both). Any combination or permutation of the above described inputs, or other types of user inputs, may be used in various embodiments to initiate either or both single-manipulator clutching or group clutching.
  • any manipulations that happen to already be docked with an entry port in a patient may be excluded from the group.
  • any manipulators that are positioned farther than a defined distance (i.e., a threshold distance) from the manipulator(s) grasped by the user may be excluded from the group.
  • the aforementioned distances may be measured between any defined locations related to the manipulators, such as a location on the instrument holding portion of each manipulator, a center of gravity of each manipulator, or any other desired locations.
  • the electronic controller may already have the location information needed to determine the distances as the controller generally keeps track of the locations of the manipulators and their links as part of controlling their motions.
  • the controller may be capable of using any of a number of exclusion rules and may be preconfigured to enable some or all of these rules as a default, and then a user may change which ones of the exclusion rules are enabled if desired, for example via a console or other user interface of the system.
  • the system may be configured to provide indications to users that group clutched mode is engaged and/or which manipulators are selected for inclusion in the group.
  • lights are used as indicators. For example, lights disposed on the manipulators or near the manipulators (e.g., on a table, console, display, or rail near the manipulators) may be turned on if the manipulator is selected for the group, or specific temporal patterns (e.g., constant or coherent blinking), color patterns, spatial patterns, or other patterns of lights may be used to indicate selection in the group.
  • audible indicators such as an alert or chime or verbal indicator may be used to indicate that group clutched mode is engaged and/or which manipulators are selected.
  • FIGs. 1 -12 illustrate an embodiment of a manipulator system 100 (“system 100”).
  • the system 100 comprises a table assembly 101 , one or more rail assemblies 120 coupled to the table assembly (two are illustrated in FIGs. 1 -12), and multiple manipulator arms 140 (“manipulators 140”) coupled to the rail assemblies 120.
  • Each manipulator 140 may carry one or more instruments 150, which may be removably or permanently mounted thereon.
  • the platform 110 comprises one or more platform sections 103 (see FIGs. 1 and 2) to support the patient or workpiece.
  • the platform sections 103 each have a support surface configured to contact and support the patient or workpiece. In some embodiments multiple platform sections 103 are used and the platform sections 103 are arranged in series to support different portions of the patient or workpiece.
  • the platform sections 103 are coupled to one another and/or to the support column 102, with the support column 102 directly or indirectly supporting each of the sections 103.
  • the platform 110 has a longitudinal dimension 198 (e.g., parallel to the x-axis in FIG. 1 ), a lateral dimension orthogonal to the longitudinal dimension (e.g., parallel to the y-axis in FIG.
  • the system 100 also comprises manipulators 140 that hold and control movement and other functionality of instruments 150 mounted thereto.
  • manipulators 140 that hold and control movement and other functionality of instruments 150 mounted thereto.
  • the embodiment illustrated in FIGs. 1-14 comprises four manipulators, two on each side of the table assembly 101 (only two of the manipulators 140 are visible in FIGs. 1 and 2), but any number of manipulators 140 may be included (such as, for example, one, two, three, or more manipulators mounted to each rail assembly 120, as described in further detail below).
  • a manipulator 140 may comprise a kinematic structure of links coupled together by one or more joints. For example, as shown in FIGs.
  • the manipulators 140 may comprise a proximal link assembly comprising a proximal arm 141 movably coupled to the rail assembly 120 via one or more proximal joints 130, an intermediate link assembly comprising an intermediate arm 142 movably coupled to the proximal link assembly via one or more intermediate joints 145, and a distal link assembly comprising a distal arm 143 movably coupled to the intermediate link assembly by one or more distal joints 146.
  • the distal link assembly may also comprise an instrument holding portion 169 coupled to the distal arm 143 and configured to carry the instrument 150.
  • the links and joints of only one of the manipulators 140 are labeled to avoid obscuring the drawings, but it should be understood that each of the other manipulators 140 may also include a series of links and joints in a similar fashion.
  • the exact configuration of the links and joints may vary from one manipulator 140 to the next in some embodiments, but all will have at least some form of proximal link assembly and some form of distal link assembly movably coupled thereto (in some cases via an intermediate link assembly) similar to those described above.
  • the manipulators 140 are movable through various degrees of freedom of motion provided by various joints, including the proximal, intermediate, and distal joints 130, 145, and 146, thus allowing an instrument 150 mounted thereon to be moved relative to the worksite.
  • Some of the joints may provide for rotation of links relative to one another.
  • joints 130, 145, and 146 comprise rotatable joints that allow for rotation of the bodies coupled thereto about one or more axes.
  • the distal arm 143 is movably coupled to the instrument holding portion 169 via a wrist 147, which comprises multiple rotary joints for moving the instrument holding portion 169 relative to the distal arm 143 about multiple rotational degrees of freedom motion (e.g., pitch, yaw, and roll degrees of freedom).
  • Other joints may provide for translation of links relative to one another, and some may provide for both rotation and translation.
  • the arms 141 , 142, and/or 143 are extendable and retractable via prismatic (translational) joints (not illustrated); for example, an arm 141 , 142, or 143 may comprise two or more links that are translatable relative to one another in a telescoping fashion.
  • a powered drive element may control movement of the joint through the supply of motive power.
  • powered drive elements may comprise, for example, electric motors, pneumatic or hydraulic actuators, and other types of powered drive elements those having ordinary skill in the art would be familiar with.
  • some of the joints of the system 100 may be manually articulable (e.g., unpowered) joints, which may be articulated manually for example by manually moving the links coupled thereto.
  • the manipulators 140 are coupled to the table assembly 101 via the two rail assemblies 120_1 and 120_2 provided on opposite longitudinal sides of the platform 110.
  • the description below will describe one rail assembly 120 to simplify the description, but the other rail assemblies 120 may be configured similarly.
  • the rail assembly 120 comprises a rail 121 and a number of carriages 126 (also “first carriages 126”) coupled to the rail 121 and to the manipulators 140 to allow motion of the manipulators 140 along the rail 121. More specifically, the first carriage 126 may be coupled to the proximal arm 141 of a corresponding manipulator 140.
  • the translation between the rail 121 and the table assembly 101 is provided by a combination of relative motion between the second carriages 127 and the rail 121 and relative motion of the second carriages 127 and the table assembly 101.
  • the rail assembly 120 further comprises a second rail 124, which may be coupled between the second carriages 127 and the table assembly 101.
  • the second carriages 127 may be coupled directly to the table assembly 101.
  • One second carriage 127 is shown in FIG. 1 for ease of description, but any number could be used, including none in some embodiments.
  • the second carriages 127 are omitted and the rail 121 is fixed relative to the table assembly 101 or platform 110.
  • the rail assembly 120 is coupled to one of the platform sections 103. In other embodiments, the rail assembly 120 is coupled to the support column 102.
  • manipulator systems are contemplated in which manipulators are coupled to a structure other than a table, such as to a patient side cart (such as multiple manipulators supported by a single cart and/or individual manipulators supported by separate carts), the ceiling, or other object in the environment, and the principles described herein in relation to the system 100, particularly those related to clutched motion as described in greater detail below, are also applicable to such other systems.
  • manipulators comprise additional links, joints, and/or degrees of freedom beyond those described above.
  • manipulators may omit certain of the links, joints, and/or degrees of freedom described above.
  • Embodiments contemplated herein include embodiments comprising various combinations of one or more of the links, joints, and degrees of freedom of motion described above.
  • the system 100 may also comprise a control system 1006 and a user input and feedback system 1004.
  • the system 100 may also optionally comprise an auxiliary system 1008. Some or all of these components may be provided at a location remote from the table assembly 101 .
  • the user input and feedback system 1004 is operably coupled to the control system 1006 and comprises one or more input devices to receive input control commands to control motions and/or operations of the manipulators 140, instruments 150, rails assembly 120, and/or table assembly 101.
  • the control system 1006 also controls clutched motion operations as described herein.
  • the control system 1006 may include an electronic controller.
  • the electronic controller comprises processing circuitry configured with logic for performing the various operations described herein.
  • the logic of the processing circuitry may comprise dedicated hardware to perform various operations, software (machine readable and/or processor executable instructions) to perform various operations, or any combination thereof.
  • the processing circuitry may include a processor to execute the software instructions and a memory device that stores the software.
  • the processor may comprise one or more processing devices capable of executing machine readable instructions, such as, for example, a processor, a central processing unit (CPU), a microcontroller, a system-on-chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), etc.
  • the processing circuitry includes dedicated hardware, in addition to or in lieu of the processor, the dedicated hardware may include any electronic device that is configured to perform specific operations, such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), discrete logic circuits, a hardware accelerator, a hardware encoder, etc.
  • the processing circuitry may also include any combination of dedicated hardware and processor plus software.
  • the remaining manipulators 140 of the group are also actively controlled by the control system 1006 based on the motions of the grasped manipulator(s) 140 so that all of the manipulators 140 move together as a group following the lead of the user. More specifically, in the group clutch motion, the manipulators 140 moving together as a group means that the group of manipulators 140 are controlled by the control system 1006 such that distal portions thereof (e.g., the instrument holding portions 169) maintain a defined spatial relationship relative to one another during the motion.
  • the powered joints of the grasped manipulators 140 may be clutched, meaning that the joints are driven by the control system 1006 such that at least the distal portions of the grasped manipulators 140 are free floating and manually movable by a user, i.e., the distal portions of the manipulators 140 are supported against gravity but are moveable in at least one degree of freedom of motion (in some cases, all degrees of freedom of motion) in response to a user manually applying forces to the manipulator 140 (typically, to the distal arm 143 or instrument holder 169).
  • control system 1006 may also actively assist the motion of the grasped manipulator(s) 140 in addition to supporting their weight, for example by sensing the forces applied by the user, inferring a direction of intended motion, and driving some or all of the joints to assist in that motion.
  • the control system 1006 drives the powered joints of the manipulators 140 of the group so as to maintain a defined spatial relationship between the distal portion of the manipulators 140.
  • the instrument holding portions 169 in a group clutch are maintained in a predetermined spatial relationship. Maintaining a defined spatial relationship of the distal portions may include moving the manipulators 140 that are not grasped so as to follow the lead of the grasped manipulator(s) 140 being manually moved by the user, as described above, but it also may include constraining the motion of the grasped manipulators 140 so as to prevent certain motions thereof that would result in deviation from the defined spatial relationship, as described above.
  • the manipulator system 100 comprises two group clutch modes that maintain different types of defined spatial relationships during the group clutched motion. Other embodiments may have more or fewer group clutch modes in which the defined spatial relationships are defined in any desired way.
  • FIGs. 3-9 illustrate aspects of a first group clutch mode
  • FIGs. 10-14 illustrate aspects of a second group clutch mode.
  • the manipulators 140_1 , 140_2, 140_3 and 140_4 are all included in the group for the group clutched motion.
  • FIGs. 4 and 5 corresponds to rotation of the group about a longitudinal axis of rotation (an axis parallel to the longitudinal dimension 198 and the x-axis), and the transition between the states illustrated in FIGs. 8 and 9 corresponds to rotation of the group about a vertical axis of rotation (an axis parallel to the z-axis).
  • Rotation about a lateral axis can also be achieved, but is not illustrated herein. Rotations about other axes could also be made, but such rotations are functionally equivalent to multiple rotations about the axes mentioned above, and thus are not shown to simplify the discussion. In some cases, the rotation may also be combined with translation, but to simplify the description only rotation is discussed below.
  • the control system 1006 drives the group of manipulators 140_1 , 140_2, 140_3 and 140_4 such that the instrument holding portions 169_1 , 169_2, 169_3 and 169_4 are rotated as a group about a longitudinal axis of rotation (i.e. , an axis of rotation parallel to the longitudinal dimension 198 and x-axis).
  • the rotation as a group about a longitudinal axis may comprise rotation from the state illustrated in FIG. 4 to that illustrated in FIG. 5 (the former position of the instrument holding portion 169_3 before the movement is shown in dashed lines in FIG. 5).
  • the location of the longitudinal axis of rotation will vary depending on how the user moves the manipulators 140. For example, if the user moves the manipulators 140_1 and 140_3 equally in opposite directions, then the instrument holding portions 169_1 , 169_2, 169_3 and 169_4 may rotate as a group about a longitudinal axis of rotation 192 extending through a center of the group as shown in FIG. 5.
  • the control system 1006 will drive the manipulators 140_3 and 140_4 on the other side of the center 191 to move in a lateral direction opposite (e.g., mirroring) that of the first manipulator 140_111 and 13. and second manipulator 140_2, e.g., a +y direction, as shown in FIGs. 11 and 13.
  • the manipulators 140 on one side may be driven to mirror those on the other side based on the relative positioning of the respective manipulators. For example, in FIGs.
  • the user input that informs the control system 1006 that initiation of clutched motion is being requested does not necessarily comprise the actuation of a particular input device, such as a button. Instead, in some embodiments a user may signal to the control system 1006 that clutch motion is desired by manually applying forces to one or more manipulators 140, also referred to herein as break-away clutching as described above.
  • the control system 1006 may sense the application of these forces via one or more sensors (not illustrated) disposed throughout the manipulator 140, which may be separate from or integrally part of the actuators/brakes of the manipulator 140, and the control system 1006 may interpret the application of these forces as a user requesting the initiation of clutched motion.
  • the user could select all of the four manipulators 140 by grasping the two outermost manipulators, select a set of three serially adjacent manipulators 140 by grasping the two outermost manipulators 140 of the set, or select a set of two adjacent manipulators 140 by grasping the two adjacent manipulators 140.
  • a user may explicitly indicate the members of the group by programming the selections in advance, for example into a console or other user interface of the system.
  • the removed manipulator may be the one for which collision or reaching the ROM limit is impending, and that removed manipulator may be stopped from moving with the rest of the group, whereas the remaining members of the group may continue moving as a group.
  • coordinated movement is adjusted in response to such a condition, the adjustment may include allowing the manipulator for which collision or ROM limit is impending to keep moving with the group to the extent possible but adjusting the motion of the manipulator from what would normally be dictated by the coordinated movement so as to avoid the collision or ROM limit. In such a case, the movement of the group might not perfectly maintain the spatial relationship between the defined portions that would otherwise normally be maintained during group clutching.
  • the graphics may, for example, show arms posed to reflect actual arm poses, as seen from a top-down perspective and/or as seen from the user’s perspective if user location can be estimated from room sensors or other means.
  • the graphics may show icons (e.g., circles) indicating robot wrist locations seen from a top-down perspective, and the icons of the manipulators that are selected for the group may be highlighted, color coded, or otherwise distinguished from those excluded from the group. Combinations of the above indicators also may be used.
  • the auxiliary system 1008 may include various auxiliary devices that may be used in the operation of the system.
  • the auxiliary system 1008 may include power supply units, auxiliary function units (e.g., functions such as irrigation, evacuation, energy supply, illumination, sensors, imaging, etc.).
  • auxiliary function units e.g., functions such as irrigation, evacuation, energy supply, illumination, sensors, imaging, etc.
  • the auxiliary system 1008 may comprise a display device for use by medical staff assisting a procedure, while the user operating the input devices may utilize a separate display device that is part of the user input and feedback system 1004.
  • the auxiliary system 1008 may comprise flux supply units that provide surgical flux (e.g., electrical power, pressure, light, fluid, vacuum, etc.) to instruments.
  • An auxiliary system 1008 as used herein may thus encompass a variety of components and does not need to be provided as an integral unit.
  • the system 100 is configured as a computer-assisted, teleoperable medical system, in which case table assembly 101 may be configured to support a patient (not shown) and the instruments 150 may be medical instruments.
  • the system 100 in this configuration may be usable, for example, to perform any of a variety of medical procedures, such as surgical procedures, diagnostic procedures, imaging procedures, therapeutic procedures, etc.
  • the system 100 when configured as a teleoperable medical system need not necessarily be used on a living human patient. For example, a non-human animal, a cadaver, tissue-like materials used for training purposes, and so on, may be supported on the table assembly 101 and worked on by system 100.
  • FIG. 15 one embodiment of a method 800 for implementing group clutching will be described.
  • the method may be performed by or using an electronic controller of a manipulator system, such as a controller of the control system 1006.
  • the controller detects which manipulator(s) the user is grasping or otherwise intends to manually manipulate. This detection may be based, for example, on the user pressing clutch buttons on the manipulators as part of grasping the manipulators. Alternatively, sensors may be used to detect which manipulators are being grasped.
  • the controller determines the members of the group for group clutched motion.
  • the members may be determined to include all of the deployed manipulators as a default.
  • members may be excluded from this default group if they are docked, more than a defined distance from the grasped manipulators, or via any other predefined criteria.
  • the controller engages clutching for the members grasped by the user.
  • Clutching comprises driving the powered joints, which may include causing the bakes of the joints to enter a non-braking state and driving actuators of the joints, such that the grasped members can be relatively freely moved around by the user, while the powered joints support the weight of the manipulator and/or to assist the user’s motions.
  • the controller drives the other manipulators in the group to follow the motions of the grasped manipulators while also maintaining a defined spatial relationship between portions of the manipulators.
  • the driving of the joints in blocks 808 and 810 also include enforcing constraints on the motion of the manipulators, such as constraints to maintain the spatial relationship, constraints to avoid collisions, constraints to avoid manipulators extending beyond a range of motion, or other constraints.
  • the controller determines whether conditions are satisfied for cessation of group clutching. These conditions may include the user releasing a clutch input, a user ceasing to grasp one of the previously grasped manipulators, a stop button (e.g., emergency stop button) being pressed, a collision between a manipulator and an object having occurred or being predicted to occur, a manipulator reaching a range-of- motion limit (or approaching the limit), or any other desired condition. If the conditions for cessation are not satisfied, then the process returns to block 810. Thus, blocks 810 and 812 form a loop which has the effect of maintaining group clutching until the cessation criteria are satisfied.
  • a stop button e.g., emergency stop button
  • the controller 900 may be used as or included in, for example, the control system 1006.
  • the controller 900 comprises a processor 901 and a memory 902 storing instructions 903, 905, 907, and 909.
  • the processor 901 may comprise one or more processing devices capable of executing machine readable instructions, such as, for example, a central processing unit (CPU), a microcontroller, a system-on-chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), etc.
  • the memory 902 comprises a non-transitory computer readable storage medium, such as a hard disc drive, solid state drive, random-access memory, persistent memory, or any other device capable of storing machine readable instructions and/or other data.
  • the instructions stored on the memory 902 include instructions 903 for group clutch initiation. These instructions, when executed, cause the controller 900 to perform any of the processes described herein for determining or detecting initiation of group clutching.
  • the instructions 903 may include instructions corresponding to block 802 of method 800 described above.
  • references to the daVinci® Surgical Systems are illustrative and not to be considered as limiting the scope of the disclosure herein.
  • terms such as computer-assisted manipulator system, teleoperable manipulator system, or the like should be understood to refer broadly to any system comprising one or more controllable kinematic structures (“manipulators”) that are movable and controllable at least in part through the aid of an electronic controller (with or without human inputs).
  • manipulators controllable kinematic structures
  • Such systems may occasionally be referred to in the art and in common usage as robotically assisted systems or robotic systems.
  • Such systems include systems that are controlled by a user (for example through teleoperation), by a computer automatically (so-called autonomous control), or by some combination of these.
  • the direction “up” in the figures does not necessarily have to correspond to an “up” in a world reference frame (e.g., away from the Earth’s surface).
  • a different reference frame e.g., away from the Earth’s surface.
  • the spatial terms used herein may need to be interpreted differently in that different reference frame.
  • the direction referred to as “up” in relation to one of the figures may correspond to a direction that is called “down” in relation to a different reference frame that is rotated 180 degrees from the figure’s reference frame.
  • proximal and distal are spatial/directional terms that describe locations or directions based on their relationship to the two ends of a kinematic chain. “Proximal” is associated with the end of the kinematic chain that is closer to the base or support of the chain, while “distal” is associated with the opposite end of the kinematic chain, which often comprises an end effector of an instrument. When used in to refer to locations or to portions of a component, proximal and distal indicate the relative positions of the locations or portions relative to the base of the chain, with the proximal location or potion being closer to the base (closer here referring to proximity along the kinematic chain, rather than absolute distance).

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
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  • Manipulator (AREA)

Abstract

L'invention concerne un système manipulateur comprend une pluralité de bras manipulateurs et un dispositif de commande. Chaque bras manipulateur de la pluralité de bras manipulateurs comprend une pluralité de liaisons accouplées par une ou plusieurs articulations, la pluralité de liaisons de chaque bras manipulateur comprenant un ensemble liaison distale comprenant une partie de maintien d'instrument configurée pour être accouplée amovible à un instrument. Le dispositif de commande est configuré pour démarrer un mode d'embrayage de groupe pour un groupe de bras manipulateurs comprenant au moins deux parmi la pluralité de bras de manipulateur. Dans le mode d'embrayage de groupe, le dispositif de commande entraîne les articulations du groupe de bras manipulateurs sur la base d'un mouvement manuel d'un ou plusieurs bras manipulateurs du groupe de bras manipulateurs le long d'au moins un degré de liberté de mouvement et coordonne le mouvement de parties définies de chacun des bras manipulateurs dans le groupe de bras manipulateurs.
PCT/US2023/083541 2022-12-30 2023-12-12 Embrayage de manipulateurs et dispositifs et systèmes associés Ceased WO2024145000A1 (fr)

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CN202380092814.XA CN120603550A (zh) 2022-12-30 2023-12-12 操纵器的抓握及相关设备和系统
EP23844150.5A EP4642371A1 (fr) 2022-12-30 2023-12-12 Embrayage de manipulateurs et dispositifs et systèmes associés

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US63/477,865 2022-12-30

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US20220409313A1 (en) * 2021-06-28 2022-12-29 Auris Health, Inc. Systems and methods for master-slave control of robotic arms from patient side

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130325030A1 (en) * 1999-09-17 2013-12-05 Intuitive Surgical Operations, Inc. Systems and methods for avoiding collisions between manipulator arms using a null-space
US20140276952A1 (en) * 1999-09-17 2014-09-18 Intuitive Surgical Operations, Inc. System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
US8852208B2 (en) 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
US9358074B2 (en) 2012-06-01 2016-06-07 Intuitive Surgical Operations, Inc. Multi-port surgical robotic system architecture
US20170181801A1 (en) * 2014-02-20 2017-06-29 Intuitive Surgical Operations, Inc. Limited movement of a surgical mounting platform controlled by manual motion of robotic arms
US20220409313A1 (en) * 2021-06-28 2022-12-29 Auris Health, Inc. Systems and methods for master-slave control of robotic arms from patient side

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CN120603550A (zh) 2025-09-05
EP4642371A1 (fr) 2025-11-05

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