CONTROL OF MEDICAL ROBOTIC SYSTEM MANIPULATOR ABOUT KINEMATIC SINGULARITIES

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 relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.

主权项

1. A medical robotic system comprising:
a medical device; a manipulator for manipulating the medical device in at least first, second and third rotational degrees of freedom in which the medical device is respectively rotatable about first, second and third axes at a pivot point, the first axis fixed in space, the second and third axes fixed relative to the medical device and orthogonal to each other so as to move in space as the medical device moves; and a controller configured to command the manipulator to manipulate the medical device to the commanded state while resolving any control ambiguity caused by the first and third axes coinciding.