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    SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE
    1.
    发明公开
    SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE 审中-公开
    系统和方法联合运动中的利用面积为零的减少

    公开(公告)号：EP2884937A4

    公开(公告)日：2016-04-13

    申请号：EP13829979

    申请日：2013-08-15

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： HOURTASH ARJANG ,  HINGWE PUSHKAR

    IPC分类号： B25J18/02 ,  A61B34/32 ,  A61B34/37 ,  B25J9/16 ,  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.

    Articulated robot
    4.
    发明公开
    Articulated robot 失效
    结构机器人

    公开(公告)号：EP0044737A3

    公开(公告)日：1982-04-07

    申请号：EP81303314

    申请日：1981-07-20

    申请人： SHIN MEIWA INDUSTRY CO., LTD.

    发明人： Noguchi, Fumio

    IPC分类号： G05B19/42

    CPC分类号： B25J19/0016 ,  B25J9/0081 ,  B25J9/046 ,  B25J9/1025 ,  B25J9/1045 ,  G05B19/425 ,  G05B2219/40362

    摘要： An articulated robot comprises one or more articulation angles that can assume two states on the occasion of the same position or attitude of an object being controlled. A change from one to the other of the above described two states is taught by operating an operation panel and the respective driving means of two arms constituting one articulation angle are controlled based on the above described teaching information so that the articulation angle may be changed from one state to the other state, whereby rotation of the respective arms is controlled.

    Articulated robot
    5.
    发明公开
    Articulated robot 失效
    关节机器人。

    公开(公告)号：EP0044737A2

    公开(公告)日：1982-01-27

    申请号：EP81303314.9

    申请日：1981-07-20

    申请人： SHIN MEIWA INDUSTRY CO., LTD.

    发明人： Noguchi, Fumio

    IPC分类号： G05B19/42

    CPC分类号： B25J19/0016 ,  B25J9/0081 ,  B25J9/046 ,  B25J9/1025 ,  B25J9/1045 ,  G05B19/425 ,  G05B2219/40362

    摘要： An articulated robot comprises one or more articulation angles that can assume two states on the occasion of the same position or attitude of an object being controlled. A change from one to the other of the above described two states is taught by operating an operation panel and the respective driving means of two arms constituting one articulation angle are controlled based on the above described teaching information so that the articulation angle may be changed from one state to the other state, whereby rotation of the respective arms is controlled.

    SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE
    6.
    发明公开
    SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE 审中-公开
    系统和方法联合运动中的利用面积为零的减少

    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。

    SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE
    7.
    发明公开
    SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE 审中-公开
    系统和预防之间的机械手臂碰撞零空间方法

    公开(公告)号：EP2854687A1

    公开(公告)日：2015-04-08

    申请号：EP13796776.6

    申请日：2013-05-31

    申请人： Intuitive Surgical Operations, Inc.

    发明人： HOURTASH, Arjang, M. ,  HINGWE, Pushkar ,  SCHENA, Bruce, Michael ,  DEVENGENZO, Roman, L.

    IPC分类号： A61B19/00 ,  B25J9/06 ,  B25J17/00 ,  B25J13/06

    CPC分类号： A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40362 ,  G05B2219/40371 ,  G05B2219/40476 ,  G05B2219/40492 ,  G05B2219/45117

    摘要： Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

    摘要翻译： 提供设备，系统，以及避免使用空空间机械臂之间的碰撞方法。 在一个方面，该系统使用的操纵器的参考几何形状之间的关系，以保持参考几何形状之间的分离计算躲避移动的倍数。 在某些实施例中，系统bestimmt相邻参考几何形状之间的相对状态下，计算出基于该相对状态和回避矢量雅可比的零空间内的参考几何形状之间回避矢量，并且在一个或多个操纵器的回避移动确定性地雷。 关节可以雅丁被驱动所计算的回避移动，同时保持端部执行器的所期望的状态或约哪个器械轴枢转远程中心位置，并且可以被同时驱动雅丁到到末端执行器的零垂直空间内移动的移动 雅可比的，以实现端部执行或远程中心的所希望的运动。