发明名称 |
SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT |
摘要 |
Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein. |
申请公布号 |
WO2016044574(A1) |
申请公布日期 |
2016.03.24 |
申请号 |
WO2015US50655 |
申请日期 |
2015.09.17 |
申请人 |
INTUITIVE SURGICAL OPERATIONS, INC. |
发明人 |
HOURTASH, ARJANG M.;SWARUP, NITISH;HINGWE, PUSHKAR |
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