SOFTWARE CENTER AND HIGHLY CONFIGURABLE ROBOTIC SYSTEMS FOR SURGERY AND OTHER USES

摘要

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

主权项

1. A robotic system comprising:
a manipulator assembly for robotically moving a distal end effector relative to a proximal base, the manipulator assembly having a plurality of joints, the joints providing sufficient degrees of freedom to allow a range of joint states for an end effector position; an input for receiving a command to effect a desired movement of the end effector; and a processor coupling the input to the manipulator assembly, the processor determining movements of the joints in response to the command so as to move the end effector with the desired movement, the processor configured to drive at least one of the joints in response to an external articulation of another joint of the manipulator assembly.