Inverse kinematic control systems for robotic surgical system
AssigneeCovidien LP
InventorJiqi Cheng
Life of this patent
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Abstract
A method of using inverse kinematics to control a robotic system includes receiving an input pose from a user interface to move an arm of the robotic system, calculating a remote center of motion for a desired pose from the input pose in a tool center-point frame, checking when the desire pose needs correction, correcting the desired pose of the arm, and moving the am to the desired pose in response to the input pose. The am of the robotic system including a tool having a jaw disposed at an end of the arm. Checking when the desired pose needs correction includes verifying that the remote center of motion is at or beyond a boundary distance in the desired pose. Correcting the desired pose of the arm occurs when the remote center of motion is within the boundary distance.
Claims16
A robotic surgical system comprising:
- a user interface including an input handle movable to output an input pose having an input angle;
- a robotic arm including a surgical instrument, wherein the surgical instrument includes:
- a shaft;
- a link coupled to the shaft and pivotal relative to the shaft at a pitch angle about a pitch point;
- and
- a tool coupled to the link and pivotal relative to the link at a yaw angle about a yaw axis having a tool center point;
- and
- a processing unit configured to:
- receive the input pose;
- calculate an inverse kinematic solution for the surgical instrument based on the input pose and a model of the surgical instrument;
- determine whether the inverse kinematic solution is desirable based on at least one of joint limit, speed limit, or an acceleration limit of the surgical instrument;
- correct the input pose based on the inverse kinematic solution being undesirable;
- recalculate the inverse kinematic solution for the surgical instrument based on the corrected input pose;
- and
- command the robotic arm to move the surgical instrument based on the recalculated inverse kinematic solution.
A method for controlling a robotic surgical system, the method comprising:
- receiving an input pose at a processing unit from a user interface including an input handle movable to output the input pose;
- calculating an inverse kinematic solution for a surgical instrument coupled to and movable by a robotic arm based on the input pose and a model of the surgical instrument including:
- a shaft;
- a link coupled to the shaft and pivotal relative to the shaft at a pitch angle about a pitch point;
- and
- a tool coupled to the link and pivotal relative to the link at a yaw angle about a yaw axis having a tool center point;
- determining whether the inverse kinematic solution is desirable based on at least one of joint limit, speed limit, or an acceleration limit of the surgical instrument;
- correcting the input pose based on the inverse kinematic solution being undesirable;
- recalculating the inverse kinematic solution for the surgical instrument based on the corrected input pose;
- and
- commanding the robotic arm to move the surgical instrument based on the recalculated inverse kinematic solution.
A method for controlling a robotic surgical system, the method comprising:
- receiving an input pose at a processing unit from a user interface including an input handle movable to output the input pose;
- calculating an inverse kinematic solution for a surgical instrument having a tool center point, the surgical instrument coupled to and movable by a robotic arm based on the input pose while the instrument is inserted into a trocar that is inserted into a patient at a trocar point to allow passage of the surgical instrument therethrough;
- determining whether the inverse kinematic solution is desirable based on at least one of joint limit, speed limit, or an acceleration limit of the surgical instrument;
- calculating a spherical surface representing a travel path of the trocar point relative to the tool center point;
- defining a boundary plane separating the spherical surface;
- determining whether the inverse kinematic solution is desirable based on a position of the trocar point relative to the boundary;
- and
- commanding the robotic arm to move the surgical instrument based on the inverse kinematic solution.
Dependencies are inferred from the claim text.