Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space
AssigneeIntuitive Surgical Operations, Inc.
InventorArjang M. Hourtash
Life of this patent
Estimating the term…
Abstract
Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.
Claims20
A method for a manipulator arm, the manipulator arm comprising a movable distal portion that includes an end effector, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given state of the end effector, the method comprising:
- defining a position-based constraint of a first joint of the plurality of joints within a joint space of the plurality of jointsto provide an increased range of movement for the end effector, the position-based constraint including a first path corresponding to differing ranges of movement for the end effector;
- calculating a facilitating movement of the plurality of joints along the first path of the position-based constraint, wherein calculating the facilitating movement comprises calculating joint velocities of the plurality of joints from directions that correspond to the end effector not moving;
- and
- driving the plurality of joints according to the calculated facilitating movement so as to provide the increased range of movement for the end effector.
A system comprising:
- a manipulator arm comprising a movable distal portion that includes an end effector, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given state of the end effector;
- and
- one or more processors operably connected to the manipulator arm, the one or more processors being configured to perform operations including:
- defining a position-based constraint of a first joint of the plurality of joints within a joint space of the plurality of joints to provide an increased range of movement for the end effector, the position-based constraint including a first path corresponding to differing ranges of movement for the end effector;
- calculating a facilitating movement of the plurality of joints along the first path of the position-based constraint, wherein calculating the facilitating movement comprises calculating joint velocities of the plurality of joints from directions that correspond to the end effector not moving;
- and
- driving the plurality of joints according to the calculated facilitating movement so as to provide the increased range of movement for the end effector.
A non-transitory readable memory storing a processor-implemented program for a manipulator arm, the manipulator arm comprising a movable distal portion that includes an end effector, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given state of the end effector, and the processor-implemented program including instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
- defining a position-based constraint of a first joint of the plurality of joints within a joint space of the plurality of joints to provide an increased range of movement for the end effector, the position-based constraint including a first path corresponding to differing ranges of movement for the end effector;
- calculating a facilitating movement of the plurality of joints along the first path of the position-based constraint, wherein calculating the facilitating movement comprises calculating joint velocities of the plurality of joints from directions that correspond to the end effector not moving;
- and
- driving the plurality of joints according to the calculated facilitating movement so as to provide the increased range of movement for end effector.
Dependencies are inferred from the claim text.