US 11,602,840 B2 · System and methods for managing multiple null-space objectives and SLI behaviors

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.

Claims20

Dependent claims

A medical system comprising:

a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion;
and
a processor coupled to the manipulator arm, the processor being configured to perform operations including:
calculating a first movement of the plurality of 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,
calculating a second movement of the plurality of joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance,
combining at least the first and second movements of the plurality of movements into a combined movement in a manner allowing the first objective to overpower the second objective, and
driving the plurality of joints to effect the combined movement.

4 more elements

A method for moving a manipulator arm of a medical system, the manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion, the method comprising:

calculating a first movement of the plurality of 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;
calculating a second movement of the plurality of joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance;
combining at least the first and second movements of the plurality of movements into a combined movement in a manner allowing the first objective to overpower the second objective;
and
driving the plurality of joints to effect the combined movement.

2 more elements

A processor-readable recording unit storing instructions that, when executed by a processor, cause the processor to perform operations for moving a manipulator arm of a medical system, the manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion, the operations comprising:

calculating a first movement of the plurality of 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;
calculating a second movement of the plurality of joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance;
combining at least the first and second movements of the plurality of movements into a combined movement in a manner allowing the first objective to overpower the second objective;
and
driving the plurality of joints to effect the combined movement.

2 more elements

Dependencies are inferred from the claim text.

System and methods for managing multiple null-space objectives and SLI behaviors

Life of this patent

System and methods for managing multiple null-space objectives and SLI behaviors

Life of this patent

Abstract

Claims20