Positions for multiple surgical mounting platform rotation clutch buttons

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. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

主权项

1. A teleoperated surgical system comprising:
a support structure supporting a mounting platform, the support structure including a support linkage including a base and a drive or brake system operatively coupled to the support linkage so as to limit inadvertent manual rotation of the mounting platform relative to the support structure base; a first manipulator and a second manipulator extending from and supported by the mounting platform, the first manipulator and the second manipulator coupled to the mounting platform via a first set-up linkage and a second set-up linkage, respectively; a first actuatable input and a second actuatable input, each configured for user actuation of the drive or brake system of the support structure to selectively halt a servoing or a braking by the drive or brake system that limits the inadvertent manual rotation of the mounting platform relative to the support structure base to allow for manual rotation of the mounting platform by a user, the first actuatable input and second actuatable input positioned on the first set-up linkage and second set-up linkage, respectively.