- 专利标题: Systems and methods for utilizing augmented jacobian to control manipulator joint movement
-
申请号: US16407005申请日: 2019-05-08
-
公开(公告)号: US11213360B2公开(公告)日: 2022-01-04
- 发明人: Arjang M. Hourtash , Nitish Swarup , Pushkar Hingwe
- 申请人: Intuitive Surgical Operations, Inc.
- 申请人地址: US CA Sunnyvale
- 专利权人: Intuitive Surgical Operations, Inc.
- 当前专利权人: Intuitive Surgical Operations, Inc.
- 当前专利权人地址: US CA Sunnyvale
- 代理机构: Ferguson Braswell Fraser Kubasta PC
- 主分类号: A61B34/30
- IPC分类号: A61B34/30 ; B25J9/16 ; A61B34/00 ; G05B19/02 ; A61B34/35
摘要:
Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the: augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.