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US 12,440,992 B2Granted
Control modes and processes for positioning of a robotic manipulator
AssigneeVerb Surgical Inc.
InventorsRenbin Zhou, Haoran Yu, Sina Nia Kosari, Omar J. Vakharia, Bernard Fai Kin Siu, Alex Kiturkes
Life of this patent
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Abstract
A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.
Claims20
A method for setting up a robotic surgical system prior to a surgical procedure, the method comprising:
- driving a plurality of joints of a surgical robotic arm, the arm having a first portion that is pivotally coupled to a second portion at an actuatable joint, to guide the robotic arm through an ordered sequence of progressively unfolded predetermined poses,
- starting from a storage pose where the robotic arm is stored substantially underneath a patient table and in which the second portion is collapsed onto or nested adjacent to the first portion both portions underneath the patient table, then
- a table clear pose in which the robotic arm is no longer entirely underneath the patient table and can unfold or reconfigure without colliding with the patient table and other objects, wherein the first portion comprises a link that, during a movement of the robotic arm from the storage pose to the table clear pose, pivots outward around a pin that is coupled to and underneath the patient table, wherein the first portion pivots outward relative to the patient table until the table clear pose is reached, then
- a plurality of on-plane unfolded poses in which the second portion of the arm has unfolded away from the first portion, wherein in the table clear pose the first portion of the robotic arm is placed at an angle relative to a longitudinal axis of the patient table sufficient to enable the on-plane unfolded poses, and then
- a docking position in which the robotic arm is positioned for receiving a surgical instrument.
2 more elements
A robotic surgical system, comprising:
- at least one robotic arm comprising a plurality of joints, a first portion, and a second portion pivotally coupled to the first portion at one of the plurality of joints;
- a processor configured to control movement of the at least one robotic arm by driving the plurality of joints to guide the at least one robotic arm through an ordered sequence of progressively unfolded predetermined poses,
- starting from a storage pose where the robotic arm is stored substantially underneath a patient table and in which the second portion is collapsed onto or nested adjacent to the first portion both portions underneath the patient table, then
- a table clear pose in which the robotic arm is no longer entirely underneath the patient table and can unfold or reconfigure without colliding with the patient table and other objects, wherein the first portion comprises a link that, during a movement of the robotic arm from the storage pose to the table clear pose, pivots outward around a pin that is coupled to and underneath the patient table, wherein the first portion pivots outward relative to the patient table until the table clear pose is reached, then
- a plurality of on-plane unfolded poses in which the second portion of the arm has unfolded away from the first portion, wherein in the table clear pose the first portion of the robotic arm is placed at an angle relative to a longitudinal axis of the patient table sufficient to enable the on-plane unfolded poses, and then
- a docking position in which the robotic arm is positioned for receiving a surgical instrument.
3 more elements
Dependencies are inferred from the claim text.