公开(公告)号：US09375284B2

公开(公告)日：2016-06-28

申请号：US14218871

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Arjang Hourtash

IPC: G05B19/19 ,  A61B19/00 ,  B25J9/16 ,  B25J18/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/03 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1666 ,  B25J18/007 ,  G05B2219/40371 ,  G05B2219/40474

Abstract: Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.

Abstract translation: 用于提供具有多个具有冗余自由度的关节的操纵臂的末端执行器的移动范围的装置，系统和方法。 方法包括在由所述至少一个关节限定的关节空间内限定基于位置的约束，确定所述关节沿着所述约束在零空间内的移动，并且根据所计算的运动来驱动所述关节，以在提供 增加的末端执行器运动范围，特别是当一个或多个关节接近关节空间内的相应关节限度时。

公开(公告)号：US20140316430A1

公开(公告)日：2014-10-23

申请号：US14218832

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Arjang Hourtash

IPC: A61B19/00

CPC classification number: B25J9/1607 ,  A61B34/30 ,  A61B34/37 ,  A61B34/77 ,  B25J9/1689 ,  B25J18/007 ,  G05B2219/39079 ,  G05B2219/40327 ,  G05B2219/41405

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

Abstract translation: 用于根据一个或多个合并的零空间目标提供与操纵器的一个或多个关节的期望运动同时进行操纵器的末端执行器的命令移动的装置，系统和方法。 零空间目标可以包括联合状态组合，相对关节状态，关节状态范围，关节状态轮廓，动能，离合运动，碰撞避免运动，奇异性避免运动，姿态或俯仰偏好，期望的操纵器配置，命令重新配置 的机械手，以及关节的各向异性强调。 方法包括根据不同的零空间目标来计算多个零空间运动，使用各种方法确定每个属性并使用零空间管理器合并零空间运动。 这些方法可以包括应用加权，缩放，饱和度水平，优先级，主速度限制，饱和有限积分及其各种组合。

公开(公告)号：US20140276953A1

公开(公告)日：2014-09-18

申请号：US14218862

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Arjang Hourtash ,  Paul Mohr

IPC: A61B19/00

CPC classification number: B25J9/1643 ,  A61B1/00193 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B50/13 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/065 ,  B25J18/007 ,  G05B2219/40339 ,  G05B2219/40359 ,  G05B2219/40474

Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract translation: 用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。 方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。 方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。 本文提供了利用这种方法的装置和系统的各种配置。

公开(公告)号：US20140276951A1

公开(公告)日：2014-09-18

申请号：US14218318

申请日：2014-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang Hourtash ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Niels Smaby ,  Nitish Swarup

IPC: A61B19/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/2059

Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

Abstract translation: 用于控制机器人系统的多个操纵器组件的方法，装置和系统。 根据一种方法，经由第一操纵器组件的关节空间界面元件和关节之间的第一映射，在多个连接器输入元件的多个关节空间界面元件处接收第一多个传感器信号。 连接器输入元件一次可操作以仅耦合到一个操纵器组件。 然后接收的第一传感器信号用联合控制器处理，以便控制第一操纵器组件。 然后，经由与第一映射不同的第二映射，在联合空间接口元件处从连接器输入元件接收第二多个传感器信号。 然后接收的第二传感器信号用联合控制器处理，以便控制与第一操纵器组件不同的第二操纵器组件。

公开(公告)号：US20220032453A1

公开(公告)日：2022-02-03

申请号：US17505566

申请日：2021-10-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang Hourtash

IPC: B25J9/16 ,  B25J18/00 ,  A61B34/30 ,  A61B34/37

Abstract: A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include calculating a second movement of the joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance, and combining at least the first and second movements into a combined movement in a manner allowing the first objective to overpower the second objective, and driving the joints to effect the combined movement.

公开(公告)号：US20140276954A1

公开(公告)日：2014-09-18

申请号：US14218871

申请日：2014-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang Hourtash

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/03 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1666 ,  B25J18/007 ,  G05B2219/40371 ,  G05B2219/40474

Abstract: Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.

Abstract translation: 用于提供具有多个具有冗余自由度的关节的操纵臂的末端执行器的移动范围的装置，系统和方法。 方法包括在由所述至少一个关节限定的关节空间内限定基于位置的约束，确定所述关节沿着所述约束在零空间内的移动，并且根据所计算的运动来驱动所述关节，以在提供 增加的末端执行器运动范围，特别是当一个或多个关节接近关节空间内的相应关节限度时。

公开(公告)号：US20140052155A1

公开(公告)日：2014-02-20

申请号：US13967606

申请日：2013-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang Hourtash ,  Pushkar Hingwe

IPC: A61B19/00

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

Abstract: Devices, systems, and methods 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 be overlaid 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.

Abstract translation: 用于取消移动远程外科手术操纵器的一个或多个关节以实现末端执行器的操纵运动的装置，系统和方法。 方法包括计算在零垂直空间内的关节的运动以实现期望的末端执行器运动，同时计算零空间内的一个或多个锁定关节的运动以消除零垂直空间内的锁定关节的运动。 方法可以进一步包括计算一个或多个关节的运动以实现辅助运动或可以包括一个或多个锁定关节的移动的重新配置运动。 辅助和重新配置运动可以覆盖关节的操纵运动，以允许锁定关节的运动来实现辅助运动或重新配置运动，同时消除锁定关节的运动以实现操纵。 本文提供了利用这种方法的装置和系统的各种配置。

公开(公告)号：US11998296B2

公开(公告)日：2024-06-04

申请号：US17264384

申请日：2019-07-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Arjang Hourtash ,  Goran Lynch

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  B25J9/00 ,  B25J9/16

CPC classification number: A61B34/77 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  B25J9/0045 ,  B25J9/1676 ,  B25J9/1689

Abstract: Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.

公开(公告)号：US09468501B2

公开(公告)日：2016-10-18

申请号：US14218842

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Arjang Hourtash ,  Nitish Swarup

IPC: B25J15/02 ,  G05B19/04 ,  A61B19/00 ,  B25J9/16 ,  B25J18/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B2018/00595 ,  B25J9/1607 ,  B25J18/007

Abstract: 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 calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.

Abstract translation: 用于提供操纵器的末端执行器的指令运动的装置，系统和方法，同时提供操纵器的一个或多个关节的期望运动。 方法包括使用关节空间内的加权矩阵计算加权关节速度，以各向异性地强调零空间内的关节运动，以提供第一组关节的期望运动。 方法可以包括使用伪逆解来计算实现期望的末端执行器运动的关节速度，并且使用对应于第一组关节的期望运动的关节空间内的潜在功能梯度来调整计算的关节速度。 方法可以包括使用加权伪逆解和增强雅可比解。 还可以使用从伪逆解算出的联合速度来提供一个或多个辅助运动。 本文提供了使用这种方法的系统的各种配置。

公开(公告)号：US20140316431A1

公开(公告)日：2014-10-23

申请号：US14218842

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Arjang Hourtash ,  Nitish Swarup

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B2018/00595 ,  B25J9/1607 ,  B25J18/007

Abstract: 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 calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.

Abstract translation: 用于提供操纵器的末端执行器的指令运动的装置，系统和方法，同时提供操纵器的一个或多个关节的期望运动。 方法包括使用关节空间内的加权矩阵计算加权关节速度，以各向异性地强调零空间内的关节运动，以提供第一组关节的期望运动。 方法可以包括使用伪逆解来计算实现期望的末端执行器运动的关节速度，并且使用对应于第一组关节的期望运动的关节空间内的潜在功能梯度来调整计算的关节速度。 方法可以包括使用加权伪逆解和增强雅可比解。 还可以使用从伪逆解算出的联合速度来提供一个或多个辅助运动。 本文提供了使用这种方法的系统的各种配置。