Medical robotic system having entry guide controller with instrument tip velocity limiting

摘要

A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

主权项

1. A surgical system comprising:
an entry guide comprising a distal end; an entry guide manipulator comprising mechanical elements, the entry guide manipulator being configured to manipulate the entry guide about a center of rotation; camera instrument comprising a first tip, the camera instrument extending through the entry guide, and the first tip extending out of the distal end of the entry guide; an instrument comprising a second tip, the instrument extending through the entry guide, and the second tip extending out of the distal end of the entry guide; an input device; and a controller coupled to each of the entry guide manipulator, the camera instrument, the instrument, and the input device,
the controller being configured to receive a desired state of the camera instrument from the input device,the controller being configured to determine a desired state of the entry guide to achieve the desired state of the camera instrument,the controller being configured to determine desired states of the mechanical elements of the entry guide manipulator to effect the desired state of the entry guide, andthe controller being configured to command the mechanical elements of the entry guide manipulator to move so as to effect the desired state of the entry guide while limiting movements of the mechanical elements so as to avoid a resulting velocity of the first tip or the second tip from exceeding a maximum allowable velocity.