公开(公告)号：EP2884937A1

公开(公告)日：2015-06-24

申请号：EP13829979.7

申请日：2013-08-15

申请人： Intuitive Surgical Operations, Inc.

发明人： HOURTASH, Arjang ,  HINGWE, Pushkar

IPC分类号： A61B19/00 ,  B25J18/02 ,  B25J13/06

CPC分类号： A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B2034/306 ,  B25J9/1607 ,  B25J9/1643 ,  G05B2219/40362 ,  G05B2219/40365 ,  G05B2219/40367

摘要： Devices, systems, and methods are disclosed for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may overlay the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.

摘要翻译： 装置，系统和方法是游离缺失盘用于消除移动的远程外科手术操纵器的一个或多个关节以实现端部执行器的篡改移动。 方法包括计算零垂直空间内关节的移动，同时计算出零空间内的一个的移动或多种锁定的接头取消零垂直空间内的锁定关节的移动，以实现期望的端部执行器的运动。 方法可以包括计算一个或多个关节的进一步移动到辅助移动或重新配置移动也可以包括锁定一个或多个关节的移动影响。 辅助和重新配置的动作可覆盖接头的操作运动，以允许锁定关节运动，以实现辅助运动或重新配置移动，而锁定关节以实现操纵的移动被取消。 中提供了设备和利用搜索方法的系统的各种配置。