Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space

摘要

Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

主权项

1. A robotic system comprising:
a manipulator arm configured for robotically moving a distal portion relative to a proximal base, the manipulator arm having a plurality of joints between the distal portion and a proximal portion coupled to the proximal base, the plurality of joints providing sufficient degrees of freedom to allow a range of joint states of the plurality of joints for a given state of the distal portion; an input device configured for receiving a reconfiguration command to move a first one or more joints of the plurality of joints for a desired reconfiguration movement of a first portion of the manipulator arm between the proximal base and the distal portion so as to maintain a desired state of the distal portion in combination with the reconfiguration movement of the first portion of the manipulator arm; and a processor coupling the input device to the manipulator arm, the processor being configured to calculate, in response to the reconfiguration command, velocities of the plurality of joints for a first movement of the plurality of joints to move the first one or more joints of the plurality of joints in accordance with the reconfiguration command, the calculated velocities of the plurality of joints being within a null-space of a Jacobian of the manipulator arm and including a component corresponding to the first one or more joints of the plurality of joints, and the processor being further configured to drive the plurality of joints according to the first movement so as to maintain the desired state of the distal portion in combination with the reconfiguration movement of the first portion of the manipulator arm.