发明名称 |
SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE |
摘要 |
Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center. |
申请公布号 |
EP2854687(A1) |
申请公布日期 |
2015.04.08 |
申请号 |
EP20130796776 |
申请日期 |
2013.05.31 |
申请人 |
INTUITIVE SURGICAL OPERATIONS, INC. |
发明人 |
HOURTASH, ARJANG, M.;HINGWE, PUSHKAR;SCHENA, BRUCE, MICHAEL;DEVENGENZO, ROMAN, L. |
分类号 |
A61B34/30;B25J9/06;B25J13/08;B25J19/02 |
主分类号 |
A61B34/30 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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