公开(公告)号：US20240208055A1

公开(公告)日：2024-06-27

申请号：US18391473

申请日：2023-12-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Goran A. LYNCH ,  Lucas A. REILLY

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

CPC classification number: B25J9/1664 ,  A61B34/37 ,  B25J9/0084 ,  A61B2034/301

Abstract: Techniques for constraining motion of a drivable assembly including a drivable structure, a manipulator mechanically coupled to the drivable structure, and a processing system. The processing system is configured to perform operations including receiving a command. The command indicates a commanded motion for an end effector of an instrument mechanically coupled to the manipulator. The operations also include; determining a drivable structure limit based a type of procedure being performed by the drivable assembly or an operating mode of the drivable assembly. The drivable structure limit defines a limit for motion of the drivable structure. The operations further include determining a movement for effecting the commanded motion. The movement includes a relative motion of the end effector relative to the drivable structure and a drivable structure motion of the drivable structure based on the drivable structure limit. The operations additionally include driving the drivable assembly to perform the movement.