SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE

摘要

Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

主权项

1. A robotic method comprising:
providing a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion; receiving a reconfiguration command entered into a user input by a user while the distal portion is in a desired state; driving a first set of joints of the plurality with a desired reconfiguration movement in response to the reconfiguration command; calculating a reconfiguration movement of one or more of the joints of the plurality in response to the reconfiguration command so that the reconfiguration movement of the first set of joints combined with the calculated joint velocities are within a null-space of a Jacobian of the manipulator arm; and driving the one or more joints according to the calculated movement during the driving of the first set of joints so as to maintain the desired state of the distal portion.