Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms

摘要

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, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

主权项

1. A method of preparing a surgical system for surgery, wherein the surgical system includes at least a platform, a manipulator, a first kinematic structure supporting the platform, a second kinematic structure coupled with the platform and supporting the manipulator, and a first link of the second kinematic structure, the method comprising:
entering a set-up mode of the surgical system in response to sensing an input associated with the set-up mode of the surgical system; after entering the set-up mode of the surgical system, sensing an input displacement of the first link from an initial positional relationship relative to the platform to a displaced positional relationship relative to the platform, the input displacement resulting from a manual articulation of the second kinematic structure so that the first link moves toward a desired position relative to a surgical site; in response to the input displacement, calculating a movement of the first kinematic structure that returns the first link toward the initial positional relationship relative to the platform; and actively driving the first kinematic structure in accordance with the calculated movement.