Automatic Push-Out to Avoid Range of Motion Limits

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. In some embodiments, 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. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.

主权项

1. A method of controlling a robotic surgical system having a surgical manipulator coupled with a support structure by a set-up linkage, the set-up linkage including at least one joint having a range of motion, the set-up linkage being configured to facilitate an alignment of the surgical manipulator with a desired position and orientation relative to the support structure, the set-up linkage further including a drive or brake system operatively coupled to the set-up linkage and configured to limit inadvertent movement of the set-up linkage relative to the support structure when actuated, the method comprising:
identifying a first software defined range of motion limit spaced a distance apart from a first physical range of motion limit of the joint and defining a first range of motion limit envelope between the first software defined range of motion limit and the first physical range of motion limit; receiving a user input for halting a driving or braking by the drive or brake system to allow for manual positioning of the manipulator relative to the support structure through movement of the at least one joint of the set-up linkage; halting a driving or braking by the drive or brake system in response to receiving the user input; detecting a position of the joint within the range of motion; receiving a user input for reapplying the driving or braking by the drive or brake system and, in response, delaying reapplication of the driving or braking by the drive or brake system of the set-up linkage for at least a duration of time when the joint position is detected to be within the first range of motion limit envelope.