# US 11,298,200 B2 · Techniques for operating a kinematic structure by manual motion of link coupled to the kinematic structure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,298,200 B2 - Document ID: US11298200B2 - Status: Granted - Kind: B2 - Application number: 16/842,592 - Filed: 2020-04-07 - Published: 2020-07-23 - Granted: 2022-04-12 - Earliest claimed: 2012-08-15 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Paul Griffiths; Paul Mohr; Nitish Swarup; Michael Costa; David Larkin; Thomas Cooper; Michael Hanuschik - Web page: https://patentgrep.com/patent/US11298200B2 ## CPC - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/74: {Manipulators with manual electric input means} - A61B 34/32: operating autonomously - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'} - A61B 2090/065: {for measuring contact or contact pressure} - A61B 2090/0808: {for indicating correct assembly of components, e.g. of the surgical apparatus} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B 2090/508: {with releasable brake mechanisms} - Y10S 901/02: Arm motion controller - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link. ## Claims ### Claim 1 A system comprising: a kinematic structure configured to support an instrument; and a processor; wherein the processor is configured to: place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; establish a desired reference location of a link relative to a portion of the kinematic structure, the link being distal to the portion on the kinematic structure; detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, the error being due to manual movement of the link; and drive the kinematic structure so as to decrease the error. ### Claim 2 (depends on 1) The system of claim 1, wherein the portion is a platform supporting one or more manipulator arms. ### Claim 3 (depends on 1) The system of claim 1, wherein at least a part of the kinematic structure is configured to articulate the portion relative to a base of the kinematic structure. ### Claim 4 (depends on 1) The system of claim 1, wherein the kinematic structure comprises a manipulator arm coupled to the portion and configured to couple to the instrument. ### Claim 5 (depends on 1) The system of claim 1, wherein the desired reference location is associated with a remote center of motion of the instrument. ### Claim 6 (depends on 1) The system of claim 1, wherein to detect the joint operation, the processor is configured to detect that a joint of the kinematic structure is at a range of motion limit of the joint or is within a threshold distance from the range of motion limit of the joint. ### Claim 7 (depends on 1) The system of claim 1, wherein the processor is further configured to alter the desired reference location in a world coordinate frame while driving the kinematic structure. ### Claim 8 (depends on 7) The system of claim 7, wherein the processor is configured to alter the desired reference location based on an anchor velocity command used to drive the kinematic structure. ### Claim 9 (depends on 8) The system of claim 8, wherein to alter the desired reference location, the processor is configured to move the desired reference location to keep the anchor velocity command at a saturation limit. ### Claim 10 (depends on 1) The system of claim 1, wherein prior to detecting the error, the processor is further configured to move a joint of the kinematic structure away from a range of motion limit by computing a virtual force acting on the portion that mimics a spring installed at the range of motion limit and applying the virtual force to the portion. ### Claim 11 (depends on 1) The system of claim 1, wherein the processor is further configured to: inhibit transition of the system to the set-up mode when a cannula is mounted to the kinematic structure; or inhibit motion of one or more joints of the kinematic structure when the cannula is mounted to the kinematic structure; or transition the system out of the set-up mode in response to mounting of the cannula to the kinematic structure. ### Claim 12 A method of operating a system having a kinematic structure configured to support an instrument, the method comprising: transitioning, by a processor, the system to a clutching mode; transitioning, by the processor, the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; establishing, by the processor, a desired reference location of a link relative to a portion of the kinematic structure, the link being distal to the portion on the kinematic structure; detecting, by the processor, an error between an actual reference location of the link relative to the portion and the desired reference location of the link, the error being due to manual movement of the link; and driving, by the processor, the kinematic structure so as to decrease the error. ### Claim 13 (depends on 12) The method of claim 12, wherein the desired reference location is associated with a remote center of motion of the instrument. ### Claim 14 (depends on 12) The method of claim 12, wherein detecting the joint operation comprises detecting that a joint of the kinematic structure is at a range of motion limit of the joint or is within a threshold distance from the range of motion limit of the joint. ### Claim 15 (depends on 12) The method of claim 12, further comprising: altering the desired reference location in a world coordinate frame while driving the kinematic structure based on an anchor velocity command used to drive the kinematic structure. ### Claim 16 (depends on 15) The method of claim 15, wherein altering the desired reference location comprises moving the desired reference location to keep the anchor velocity command at a saturation limit. ### Claim 17 (depends on 12) The method of claim 12, further comprising: inhibiting transition of the system to the set-up mode when a cannula is mounted to the kinematic structure; or inhibiting motion of one or more joints of the kinematic structure when the cannula is mounted to the kinematic structure; or transitioning the system out of the set-up mode in response to mounting of the cannula to the kinematic structure. ### Claim 18 A non-transitory machine-readable medium storing instructions, which when executed by a processor, are configured to cause a system to perform a method, the system comprising a kinematic structure configured to support an instrument, the method comprising: transitioning the system to a clutching mode; transitioning the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; establishing a desired reference location of a link relative to a portion of the kinematic structure, the link being distal to the portion on the kinematic structure; detecting an error between an actual reference location of the link relative to the portion and the desired reference location of the link, the error being due to manual movement of the link; and driving the kinematic structure so as to decrease the error. ### Claim 19 (depends on 18) The non-transitory machine-readable medium of claim 18, wherein detecting the joint operation comprises detecting that a joint of the kinematic structure is at a range of motion limit of the joint or is within a threshold distance from the range of motion limit of the joint. ### Claim 20 (depends on 18) The non-transitory machine-readable medium of claim 18, wherein the method further comprises altering the desired reference location in a world coordinate frame while driving the kinematic structure based on an anchor velocity command used to drive the kinematic structure.