TELE-OPERATIVE SURGICAL SYSTEMS AND METHODS OF CONTROL AT JOINT LIMITS USING INVERSE KINEMATICS

摘要

Devices, systems, and methods for controlling manipulator movements at joint range of motion limits are provided. In one aspect, methods include locking one or more joints of the manipulator when the one or more joints hit a respective joint limit by modifying an input into a Jacobian of the manipulator when calculating joint movement of a master control using inverse kinematics to provide improved, more intuitive force feedback through the master control. In some embodiments, scaling and weighting between different joint movements is applied within the inverse kinematics. In another aspect, methods include applying a constraint within the inverse kinematics so that calculated movement of the joints approach joint movements of an identical kinematic chain with applied loads within an isolated physical system.

主权项

1. A tele-operation control method comprising:
receiving a first manipulation command to move a distal end effector of a manipulator arm to a desired first position within a workspace, the manipulator arm extending between a proximal base and the distal end effector; calculating a joint movement of one or more joints of a master control corresponding to calculated movement of the plurality of joints of the manipulator using inverse kinematics of the manipulator arm; and locking at least one joint of the plurality of joints when the at least one joint is at a joint range-of-motion (ROM) limit of the at least one joint, wherein locking the at least one joint comprises modifying an input variable within the inverse kinematics that corresponds to movement of the at least one joint within the workspace so that the calculated joint movement of the one or more joints of the master control provides improved force feedback.