Tele-operative surgical systems and methods of control at joint limits using inverse kinematics

Abstract

Devices, systems, and methods for controlling manipulator movements include a manipulator arm coupled to a proximal base. The manipulator arm is configured to support an end effector and robotically move the end effector relative to the proximal base. The manipulator arm includes a plurality of joints between the end effector and the proximal base and a processor. The processor is configured to calculate joint movements of the plurality of joints that provide a desired position of the end effector using inverse kinematics of the manipulator arm and when a first set of one or more joints of the plurality of joints is at corresponding joint range of motion limits: determine a constraint based on a relationship between joint movement of the first set and a second set of one or more joints of the plurality of joints and apply the constraint within the inverse kinematics to provide haptic feedback.

Dependencies are inferred from the claim text.