发明名称 |
MANIPULATOR ARM-TO-PATIENT COLLISION AVOIDANCE USING A NULL-SPACE |
摘要 |
Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space. |
申请公布号 |
WO2013181503(A1) |
申请公布日期 |
2013.12.05 |
申请号 |
WO2013US43557 |
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 |
A61B19/00;B25J9/06;B25J13/08;B25J19/02 |
主分类号 |
A61B19/00 |
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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