Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools
AssigneeVerb Surgical Inc.
InventorsApoorv Shrivastava, Renbin Zhou, Haoran Yu, Seungkook Yun, Ellen Klingbeil
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Abstract
For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.
Claims20
A method for teleoperation of a surgical robotic system, the method comprising:
- receiving a user command to move a surgical tool mounted to a robotic arm, the user command including rotation of the surgical tool where the surgical tool is rotatable only in less than three degrees of freedom;
- solving for motion from the user command with inverse kinematics, the solving having a projection from the user command to feasible motion based on the less than three degrees of freedom, wherein solving comprises solving with a rotation selection matrix in the projection, the rotation selection matrix being in an end effector coordinate system of the surgical tool and indicating feasible and not feasible rotations;
- and
- moving the robotic arm or surgical tool based on a solution from the solving.
A method for teleoperation of a surgical robotic system, the method comprising:
- receiving a user command to move a surgical tool mounted to a robotic arm, the user command including rotation of the surgical tool where the surgical tool is rotatable only in less than three degrees of freedom;
- solving for motion from the user command with inverse kinematics, the solving having a projection from the user command to feasible motion based on the less than three degrees of freedom, wherein solving comprises weighting the feasible motion with a weight of 1 and infeasible motion with a weight of 0;
- and
- moving the robotic arm or surgical tool based on a solution from the solving.
A method for accounting for a limited degree of freedom of a tool in a surgical robotic system, the method comprising:
- minimizing a difference between a change in joint position of the surgical robotic system and a change in pose of an end effector of the tool, the minimizing providing the change in the joint position given the change in pose;
- weighting the difference in the minimizing with a matrix distinguishing feasible and infeasible poses of the end effector of the tool based on the limited degrees of freedom;
- and
- controlling the surgical robotic system based on the change in the joint position.
A surgical robotic system for medical teleoperation, the surgical robotic system comprising:
- a robotic arm;
- a first surgical instrument connected to the robotic arm, where an end effector of the first surgical instrument as connected to the robotic arm cannot rotate about at least one axis;
- and
- a controller configured to solve for motion of the first surgical instrument during the medical teleoperation on a patient and in response to user input of a move command, the solution being with inverse kinematics, the inverse kinematics including a projection of the user input from a higher dimensional space to a lower dimensional space that accounts for the lack of rotation about the at least one axis, wherein the projection comprises a selection matrix for rotation of the end effector, the selection matrix distinguishing permitted and not permitted rotations of the end effector in an end effector space.
Dependencies are inferred from the claim text.