CONTROLLER DEFINITION OF A ROBOTIC REMOTE CENTER OF MOTION

摘要

A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

主权项

1. A robotic surgical system, comprising:
a surgical instrument; a robot operably configured to navigate the surgical instrument relative to an anatomical region within a coordinate system of the robot; and a robot controller,
wherein the robot controller is operably configured to define a remote center of motion for a spherical rotation of the surgical instrument within the coordinate system of the robot based on a physical location within the coordinate system of the robot of a port into the anatomical region, andwherein the robot controller is further operably configured to command the robot to align the remote center of motion of the surgical instrument with the port into the anatomical region for spherically rotating the surgical instrument relative to the port into the anatomical region.