Base positioning system for a controllable arm and related methods
AssigneeIntuitive Surgical Operations, Inc.
InventorsSimon Peter DiMaio, Nicholas Leo Bernstein, Paul Millman, Dinesh Rabindran, Alec Paul Robertson
Life of this patent
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Abstract
A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.
Claims20
A robotic system comprising:
- a base movable relative to a floor surface;
- a robotic arm extending from the base and comprising a powered joint operable to move a distal portion of the robotic arm, the robotic arm configured to support a tool;
- and
- a processor communicatively coupled to the robotic arm, the processor configured to:
- receive input data indicative of a characteristic of an access port through which the tool is insertable to perform a procedure on a subject,
- determine a desired position or orientation of the base using the input data, and
- drive the powered joint to reposition the base toward the desired position or orientation.
A method of operating a robotic system comprising a robotic arm extending from a base, the robotic arm comprising a powered joint operable to move a distal portion of the robotic arm and configured to support and move a tool, the method comprising:
- receiving, by a processor, input data indicative of a characteristic of an access port through which the tool is insertable to perform a procedure on a subject,
- determining, by the processor, a desired position or orientation of the base of the robotic system using the input data, and
- driving, by the processor, the powered joint of the robotic arm to reposition the base of the robotic system toward the desired position or orientation.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a robotic system comprising a robotic arm extending from a base, the robotic arm comprising a powered joint operable to move a distal portion of the robotic arm and configured to support and move a tool, are adapted to cause the one or more processors to perform a method comprising:
- receiving input data indicative of a characteristic of an access port through which the tool is insertable,
- determining a desired position or orientation of the base of the robotic system using the input data, and
- driving the powered joint of the robotic arm to reposition the base of the robotic system toward the desired position or orientation.
Dependencies are inferred from the claim text.