Binding and unbinding joint motion restriction for robotic surgical systems

Abstract

A robotic surgery system and method for selectively binding a joint motion limit to a surgical instrument include: detecting a proximal or distal linear movement of the surgical instrument; calculating a distance between a tool center point and a remote motion center of the surgical instrument after the proximal or distal linear movement; when the detected linear movement is a distal linear movement, assigning and binding a joint motion limit to the surgical instrument based on the calculated distance; and when the detected linear movement is a proximal linear movement, assigning a non-binding joint motion limit to the surgical instrument based on the calculated distance.

Description

Background Art

[0001] Robotic surgical systems have been used in minimally invasive medical procedures in which surgical instruments are inserted into the patient's body through a surgical portal or access port at a fixed entry point. These systems incorporate a remote center of motion (RCM) to ensure that the surgical instruments do not move outside these fixed entry points while being manipulated within the patient's body. Many of these surgical robots use mechanical RCMs, in which portions of the robotic arms are directly attached to the surgical portal. Unlike surgical robots that use mechanical RCMs, software-based RCMs are typically not mechanically connected to the surgical portal to provide a greater range of motion and reduce collisions between the robotic arms of the surgical robot.

[0002] When an operator of a robotic surgical system manipulates surgical instruments within a surgical site, joint constraints may suddenly change due to the limitations of the surgical site, the amount of surgical instruments inserted from the access port, and the distance from the distal portion of the surgical instrument to the RCM.

[0003] Therefore, there is a need for a robotic surgical system with software-based and mechanical-based RCM that facilitates limiting instrument joint motion control in real time during a robotic surgical procedure. Summary of the invention

[0004] The present disclosure relates to a system and method for selectively binding a joint motion restriction to a surgical instrument.

[0005] On the one hand, a method for selectively binding a joint motion restriction to a surgical instrument comprises: detecting a proximal or distal linear movement of the surgical instrument; after the proximal or distal linear movement, calculating the distance between a tool center point and a remote motion center of the surgical instrument; when the detected linear movement is a distal linear movement, assigning and binding the joint motion restriction to the surgical instrument based on the calculated distance; and when the detected linear movement is a proximal linear movement, assigning a non-binding joint motion restriction to the surgical instrument based on the calculated distance.

[0006] The method may further include determining a current joint motion angle of the surgical instrument when the detected linear movement is a proximal linear movement, and determining when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit. On the one hand, when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit, the current joint motion angle of the surgical instrument is not affected, and the surgical instrument remains free from the constraints of the non-binding joint motion limit. Additionally or alternatively, when the current joint motion angle of the surgical instrument is not greater than the assigned non-binding joint motion limit, the method further includes causing the surgical instrument to move through the joint to a new joint motion angle based on a received user command, and determining when the new joint motion angle of the surgical instrument is less than the assigned non-binding joint motion limit. Additionally or alternatively, when it is determined that the new joint motion angle is not less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected, and the surgical instrument remains free from the constraints of the non-binding joint motion limit. Additionally or alternatively, when it is determined that the new articulation angle is less than the assigned non-binding articulation limit, the new articulation angle of the surgical instrument is not affected, and the method further includes converting the non-binding articulation limit to a binding articulation limit.

[0007] The binding joint motion restriction and the non-binding joint motion restriction may be based on a joint motion restriction ramp that includes at least one of a linear, quadratic, power curve, or some other shape.

[0008] In another aspect of the present disclosure, a robotic surgery system is provided. The robotic surgery system includes: a surgical robot arm including a surgical instrument disposed on a distal portion thereof; and a controller operably connected to the surgical robot arm. The controller is configured to: establish a software-based remote motion center of a surgical instrument of the surgical robot arm based on a location of a surgical portal in a patient's body through which the surgical instrument is inserted; detect a proximal or distal linear movement of the surgical instrument; calculate a distance between a tool center point of the surgical instrument and the remote motion center after the proximal or distal linear movement; when the detected linear movement is a distal linear movement, assign and bind a joint motion restriction to the surgical instrument based on the calculated distance; and when the detected linear movement is a proximal linear movement, assign a non-binding joint motion restriction to the surgical instrument based on the calculated distance.

[0009] In one aspect, the controller is further configured to determine a current joint motion angle of the surgical instrument when the detected linear movement is a proximal linear movement, and to determine when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit. In one aspect, when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit, the current joint motion angle of the surgical instrument is not affected, and the surgical instrument remains unconstrained by the non-binding joint motion limit.

[0010] Additionally or alternatively, when the current joint motion angle of the surgical instrument is not greater than the assigned non-binding joint motion limit, the controller may be further configured to cause the surgical instrument to articulate to a new joint motion angle based on the received user command, and determine when the new joint motion angle of the surgical instrument is less than the assigned non-binding joint motion limit. Additionally or alternatively, when it is determined that the new joint motion angle is not less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected, and the surgical instrument remains unconstrained by the non-binding joint motion limit. Additionally or alternatively, when it is determined that the new joint motion angle is less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected, and the controller converts the non-binding joint motion limit into a binding joint motion limit.

[0011] The binding joint motion restriction and the non-binding joint motion restriction may be based on a joint motion restriction ramp that includes at least one of a linear, quadratic, power curve, or some other shape.

[0012] In another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided. The computer-readable storage medium is encoded with a program, and the program, when executed by a processor, performs a method including the following: detecting a proximal or distal linear movement of a surgical instrument; after the proximal or distal linear movement, calculating a distance between a tool center point and a remote motion center of the surgical instrument; when the detected linear movement is a distal linear movement, assigning and binding a joint motion restriction to the surgical instrument based on the calculated distance; and when the detected linear movement is a proximal linear movement, assigning a non-binding joint motion restriction to the surgical instrument based on the calculated distance.

[0013] The method may further include determining a current joint motion angle of the surgical instrument when the detected linear movement is a proximal linear movement, and determining when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit. On the one hand, when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit, the current joint motion angle of the surgical instrument is not affected, and the surgical instrument remains free from the constraints of the non-binding joint motion limit. Additionally or alternatively, when the current joint motion angle of the surgical instrument is not greater than the assigned non-binding joint motion limit, the method further includes causing the surgical instrument to move through the joint to a new joint motion angle based on a received user command, and determining when the new joint motion angle of the surgical instrument is less than the assigned non-binding joint motion limit. Additionally or alternatively, when it is determined that the new joint motion angle is not less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected, and the surgical instrument remains free from the constraints of the non-binding joint motion limit. Additionally or alternatively, when it is determined that the new articulation angle is less than the assigned non-binding articulation limit, the new articulation angle of the surgical instrument is not affected, and the method further includes converting the non-binding articulation limit to a binding articulation limit.

[0014] The binding joint motion restriction and the non-binding joint motion restriction may be based on a joint motion restriction ramp that includes at least one of a linear, quadratic, power curve, or some other shape.

[0015] Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description given below, serve to explain the principles of the present disclosure, in which:

[0017] Figure 1 is a schematic illustration of a robotic surgical system according to the present disclosure;

[0018] Figure 2 is a flow chart illustrating a method of selectively binding a joint motion restriction to a surgical instrument according to an aspect of the present disclosure;

[0019] Figures 3A-3D is based on Figure 2 a view of a distal portion of the surgical instrument during proximal linear retraction of the surgical instrument while controlling the surgical instrument;

[0020] Figure 4is a graph showing the limit of joint motion during proximal linear retraction of the surgical instrument compared to the distal distance of the RCM of the surgical instrument;

[0021] Figures 5A-5C is based on Figure 2 a view of a distal portion of the surgical instrument during distal linear advancement of the surgical instrument while the method controls the surgical instrument;

[0022] Figure 6 is a graph showing the distal distance of the RCM of the surgical instrument compared to the joint motion limit during distal linear advancement of the surgical instrument;

[0023] Figure 7 is a method for selectively limiting the articulation of a selective joint of a surgical instrument according to an aspect of the present disclosure; and

[0024] Figures 8A-8C is at various distances from the entry point and is determined by Figure 7 A method of controlling a distal portion of a surgical instrument is shown. DETAILED DESCRIPTION

[0025] Embodiments of the present disclosure are described in detail with reference to the accompanying drawings, wherein like reference numerals designate like or corresponding elements in each of the several views. As used herein, the term "distal" refers to a portion of a device that is farther from a user or a robotic assembly, while the term "proximal" refers to a portion of a device that is closer to a user or a robotic assembly.

[0026] First see Figure 1 , a surgical system such as a robotic surgical system is shown as a whole as a robotic surgical system 1 and comprises as a whole: a plurality of robotic arms 2, 3; a controller or control device 4; and an operating console 5 connected to the control device 4. The operating console 5 comprises: a display device 6, which can be arranged to display a three-dimensional image; and manual input devices 7, 8, by means of which a person (not shown), such as a surgeon, can remotely control the robotic arms 2, 3 in a first operating mode, as is known in principle to a person skilled in the art.

[0027] The robotic surgery system 1 also includes a surgical assembly 100 connected to the distal end of each of the robotic arms 2 and 3. The surgical assembly 100 can support one or more surgical instruments, such as surgical instruments 200, as will be described in more detail below. Each of the robotic arms 2 and 3 is composed of a plurality of parts connected by joints. The robotic arm 2 (and / or the robotic arm 3) includes a mounting portion for supporting the surgical instrument 200.

[0028] The robotic arms 2, 3 may be driven by an electric drive (not shown) connected to a control device 4. The control device 4 (e.g. a computer) is arranged to activate the drive, in particular by means of a computer program, in such a way that the robotic arms 2, 3, their surgical assembly 100 and / or the surgical instrument 200 perform the desired movements according to the movements defined by means of the manual input devices 7, 8. The control device 4 may also be arranged in such a way that it regulates the movements of the robotic arms 2, 3 and / or the drives. As described above, although the robotic arms 2, 3 are electrically coupled to a controller or control device 4, the robotic arms are configured to receive signals from the control device 4, which may be software-based, to establish a remote center of motion "RCM" at any suitable location.

[0029] The robotic surgery system 1 is configured for a patient "P" positioned on a patient table 12, to be treated in a minimally invasive manner with the aid of the end effectors of one or more of the surgical instruments 200, 300. The surgical system 1 may also include more than two robotic arms 2, 3, with the additional robotic arms also being connected to the control device 4 and being remotely controlled with the aid of the operating console 5. One or more additional surgical assemblies 100 and / or surgical instruments 200 may also be attached to the additional robotic arms.

[0030] The control device 4 may control a plurality of motors, wherein each motor is configured to drive the release or pulling of one or more cables of the surgical instrument 200, 300. In use, when these cables are released or pulled, the one or more cables implement the operation and / or movement of the end effector of the surgical instrument 200, 300. It is contemplated that the control device 4 coordinates the activation of the various motors to coordinate the release or pulling motion of these cables so as to coordinate the operation and / or movement (e.g., linear movement, joint movement, rotation, etc.) of the end effector of the surgical instrument 200, 300. For a detailed discussion of the construction and operation of the end effector of the robotic surgical system and other aspects, reference may be made to International Application No. PCT / US2014 / 61329, entitled “Wrist and Jaw Assemblies for Robotic Surgical Systems” filed on October 20, 2014, the entire contents of which are incorporated herein by reference.

[0031] The control device 4 may include any suitable logic control circuit suitable for performing calculations and / or operating according to an instruction set. The control device 4 may be configured to communicate with the remote system "RS" via wireless (e.g., Wi-Fi, Bluetooth, Long Term Evolution (LTE), etc.) and / or wired connection. The remote system "RS" may include data, instructions and / or information related to various components, algorithms and / or operations of the robotic surgery system 1. The remote system "RS" may include any suitable electronic service, database, platform, cloud, etc. The control device 4 may include a central processing unit operably connected to a memory. The memory may include a temporary memory (e.g., a random access memory (Random Access Memory, RAM) and / or a non-temporary memory (e.g., flash media, disk media, etc.). In some embodiments, the memory is part of the remote system "RS" and / or is operably connected to the remote system "RS".

[0032] The control device 4 may include a plurality of inputs and outputs that interface with components of the robotic surgical system 1, such as through driver circuits. The control device 4 may be configured to receive input signals and / or generate output signals to control one or more of the various components of the robotic surgical system 1 (e.g., one or more motors). The output signals may include and / or may be based on algorithmic instructions, which may be pre-programmed and / or input by a user. The control device 4 may be configured to accept a plurality of user inputs from a user interface (e.g., switches, buttons, touch screen, etc. of an operating console 5) that may be coupled to the remote system "RS".

[0033] For a detailed discussion of the construction and operation of the components of the robotic surgical system 1 , reference may be made to U.S. Patent No. 8,828,023, filed on November 3, 2011, entitled “Medical Workstation,” the entire contents of which are incorporated herein by reference.

[0034] Now turn to see Figure 2 , 3A -3D, 4, 5A-5C and 6, a method of binding joint motion restrictions to surgical instrument 200 will be described in particular detail and will be referred to as method 220. Although the steps of the method described herein are described in a particular order, the method may be implemented in any order and may include some or all of the described steps. In addition, although the method described herein is described as being performed by a control device of a robotic surgical system (e.g., remote system "RS", control device 4, etc.), it may also be performed by any component of a surgical instrument or surgical robotic system.

[0035] Method 220 begins at step 201, where linear movement of surgical instrument 200 is detected. The detection in step 201 may occur from receiving a command to cause linear movement of surgical instrument 200 (e.g., before surgical instrument 200 actually moves) or by other detection means (e.g., image-based analysis of the linear movement of surgical instrument 200 after surgical instrument 200 moves from one position to another). In step 202, control device 4 determines when the linear movement of surgical instrument 200 detected in step 201 is a proximal retraction of surgical instrument 200 or a distal advancement of surgical instrument 200. Some or all of the steps of method 220 described as being performed when control device 4 determines when the linear movement of surgical instrument 200 is a proximal retraction (yes in step 202) may additionally or alternatively be performed when control device 4 determines when the linear movement of surgical instrument 200 is not a proximal retraction (no in step 202). In addition, some or all of the steps of method 220 described as being performed when the control device 4 determines when the linear movement of the surgical instrument 200 is not a proximal retraction (no in step 202) may additionally or alternatively be performed when the control device 4 determines when the linear movement of the surgical instrument 200 is a proximal retraction (yes in step 202).

[0036] When the control device 4 determines that the linear movement of the surgical instrument 200 is a proximal retraction opposite to the distal advancement (yes in step 202), the method 220 proceeds to step 203, where the control device 4 calculates the distance between the tool center point "TCP" and the remote motion center "RCM" after the proximal retraction is completed. Figure 3A The surgical instrument 200 is shown in a position prior to proximal retraction and Figure 3B The position of the surgical instrument 200 after proximal retraction is shown, with the distance between the tool center point "TCP" and the remote center of motion "RCM" shown as distance "D". This distance can be calculated by image analysis, or in one aspect, the positions of the tool center point "TCP" and the remote center of motion "RCM" can be known and tracked by the control device 4, and the distance can be calculated as the difference between the two known positions.

[0037] After calculating the distance between the tool center point "TCP" and the remote motion center "RCM" in step 203, method 220 proceeds to step 205, where the control device 4 assigns non-binding joint motion restrictions to the surgical instrument 200 based on the calculated distance between the tool center point "TCP" and the remote motion center "RCM".

[0038] In step 207, the control device 4 determines that the surgical instrument 200 is in the proximal retracted position ( Figure 3B). This determination may be made via image analysis, or in one aspect, the joint motion angle of the surgical instrument 200 may be known and tracked by the control device 4. In step 208, the control device 4 determines when the joint motion angle determined in step 207 is greater than the assigned limit. In one aspect, the assigned limit is equal to the non-binding joint motion limit assigned in step 205 (or the binding joint motion limit assigned in step 206).

[0039] When the control device 4 determines the current joint motion angle of the surgical instrument 200 (in Figure 3B When the current joint motion angle of the surgical instrument 200 is greater than the assigned non-binding joint motion limit (YES in step 208), the method 220 proceeds to step 210, where the control device 4 does not operate the joint motion angle of the surgical instrument 200. Specifically, in step 210, when the current joint motion angle of the surgical instrument 200 is greater than the assigned non-binding joint motion limit, the current joint motion angle of the surgical instrument 200 is not affected, and the surgical instrument 200 remains free from the non-binding joint motion limit.

[0040] Alternatively, when the control device 4 determines the current joint motion angle of the surgical instrument 200 (in Figure 3B If the proximal retracted position shown in step 208 is not greater than the assigned limit (no in step 208), method 220 proceeds to step 209, wherein the control device 4 causes the surgical instrument 200 to articulate to a new articulation angle (based on the received command to articulate the surgical instrument 200), and in step 212, determines when the new articulation angle of the surgical instrument 200 is less than the assigned non-binding articulation limit. Figure 3C and 3D Shown in Figure 3B Surgical instrument 200 is shown at its initial articulation angle after articulation to a corresponding new articulation angle.

[0041] When the control device 4 determines the new joint motion angle of the surgical instrument 200 ( Figure 3C ) is not less than the assigned non-binding joint motion limit (No in step 212), the method 220 proceeds to step 214, where the control device 4 always assigns the surgical instrument 200 to the non-binding joint motion limit. Specifically, in step 214, the joint motion angle of the surgical instrument 200 is not affected, and the surgical instrument 200 remains unconstrained by the joint motion limit. Therefore, in this scenario, because the assigned limit is unconstrained, the joint motion of the surgical instrument 200 may still exceed the assigned limit (e.g., by joint motion to a lower angle value) when the operator or the control device 4 so wishes.

[0042] Alternatively, when the control device 4 determines the new joint motion angle ( Figure 3D ) is less than the assigned non-binding joint motion limit (yes in step 212), the method 220 proceeds to step 213, where the control device 4 converts the non-binding joint motion limit into a binding joint motion limit. Specifically, in step 213, the joint motion angle of the surgical instrument 200 is not affected, but the surgical instrument 200 is now constrained by the joint motion limit because the joint motion of the surgical instrument 200 has now exceeded the non-binding joint motion limit (e.g., by the joint motion to an angle value less than the non-binding limit angle value).

[0043] Thus, utilizing this configuration according to method 220, the joint movement of the surgical instrument 200 is able to exceed the joint movement limit (at a certain distance from the remote center point), and only becomes constrained by the joint movement limit after the joint movement of the surgical instrument 200 exceeds the assigned non-binding joint movement limit (e.g., by joint movement to a lower angle value). Figure 4 is in the whole Figures 3A-3D A diagram of exemplary binding (and non-binding) articulation limits assigned to surgical instrument 200 during movement (eg, proximal retraction and articulation) of surgical instrument 200 is shown in FIG.

[0044] Returning to step 201 of method 220, when the control device 4 determines that the linear movement of the surgical instrument 200 is distal advancement (as opposed to proximal retraction) (yes in step 202), the method 220 proceeds to step 204, where the control device 4 calculates the distance between the tool center point "TCP" and the remote motion center "RCM" after the distal advancement is completed. Figure 5A The surgical instrument 200 is shown in its position before distal advancement and Figure 5B The position of the surgical instrument 200 after distal advancement is shown, with the distance between the tool center point "TCP" and the remote center of motion "RCM" shown as distance "D". This distance can be calculated by image analysis, or in one aspect, the positions of the tool center point "TCP" and the remote center of motion "RCM" can be known and tracked by the control device 4, and the distance can be calculated as the difference between the two known positions.

[0045] After calculating the distance between the tool center point "TCP" and the remote center of motion "RCM" in step 204, the method 220 proceeds to step 206, where the control device 4 calculates the distance between the tool center point "TCP" and the remote center of motion "RCM" based on its distally advanced position ( Figure 5B) and the distance between the tool center point "TCP" and the remote center of motion "RCM" calculated in the control device 4 binds and assigns the joint motion limit to the surgical instrument 200. If the control device 4 subsequently receives a command to make the surgical instrument 200 perform joint motion to a new angle, the joint motion angle will be limited to the assigned constraint limit and the joint motion cannot exceed the constrained limit angle. Figure 5C Surgical instrument 200 is shown articulating to a new articulation angle and subject to a constrained articulation limit.

[0046] Figure 6 is in the whole Figures 5A-5C A diagram of exemplary binding articulation limits assigned to surgical instrument 200 during movement (eg, distal advancement and articulation) of surgical instrument 200 is shown in FIG.

[0047] After step 206, method 220 returns to step 201. Thus, upon detecting further distal advancement of surgical instrument 200, control device 4 calculates a new distance between tool center point "TCP" and remote center of motion "RCM" (repeating step 204), and accordingly assigns a new (higher) binding joint motion limit to surgical instrument 200 based on the newly calculated distance. After step 206, in some cases, method 220 also returns to step 207 described above.

[0048] Now turn to see Figure 7 and 8A -8C, a method for selectively limiting the joint motion of multiple wrist joints of the surgical instrument 200 will now be described in particular detail and will be referred to as method 700. Although the steps of the method described herein are described in a particular order, the method may be implemented in any order and may include some or all of the steps described. In addition, although the method described herein is described as being performed by the control device 4 of the robotic surgical system, it may also be performed by any component of the surgical instrument or surgical robotic system.

[0049] The method 700 begins at step 701, in which the control device 4 calculates the distal portion 801 ( Figures 8A-8C ) and the distal portion 850 ( Figures 8A-8C ). Figures 8A-8C, the surgical instrument 200 is positioned through the access port 852 and emerges from the distal portion 850 of the access port 852. The surgical instrument 200 includes a distal portion 801, a first wrist joint 803, and a second wrist joint 805. The function of the first wrist joint 803 and the second wrist joint 805 is to enable the surgical instrument 200 to perform articulation around the corresponding pivot axis. In step 701, this distance can be calculated by image analysis, or in one aspect, the position of the distal portion 801 of the surgical instrument 200 and the distal portion 850 of the access port 852 can be known and tracked by the control device 4, and the distance can be calculated as the difference between these two known positions.

[0050] In step 702, the control device 4 determines when the distance calculated in step 701 is less than a first threshold distance. When the distance is less than the first threshold distance (yes in step 702), the method 700 proceeds to step 703, where the control device 4 limits the joint movement of both the first wrist joint and the second wrist joint. Alternatively, when the distance is not less than the first threshold distance (no in step 702), the method 700 proceeds to step 704, where the control device 4 determines when the distance calculated in step 701 is less than a second threshold distance. The second threshold distance is a distance value greater than the first threshold distance.

[0051] When the distance is less than the second threshold distance (yes in step 704), the method 700 proceeds to step 705, where the control device 4 only limits the joint motion of the second wrist joint but supports the joint motion of the first wrist joint. Alternatively, when the distance is not less than the second threshold distance (no in step 704), the method 700 proceeds to step 707, where the control device 4 supports the full joint motion of both the first wrist joint and the second wrist joint.

[0052] Fig. 8A The surgical instrument 200 is shown when the distance "d1" between the distal portion 801 of the surgical instrument 200 and the distal portion 850 through which the access port 852 through which the surgical instrument 200 is positioned is less than the first threshold distance. In this scenario, both the first wrist joint (not shown) and the second wrist joint (not shown) are assigned joint motion restrictions. For example, in this scenario, the control device 4 prevents the first wrist joint and the second wrist joint (not shown) from performing any joint motion.

[0053] Figure 8B The surgical instrument 200 is shown when the distance "d2" between the distal portion 801 of the surgical instrument 200 and the distal portion 850 through which the access port 852 through which the surgical instrument 200 is positioned is greater than the first threshold distance but less than the second threshold distance. In this scenario, only the second wrist joint (not shown) is assigned an articulation restriction, while the first wrist joint 803 can be freely articulated by the control device 4.

[0054] Figure 8C The surgical instrument 200 is shown when the distance "d3" between the distal portion 801 of the surgical instrument 200 and the distal portion 850 through which the access port 852 through which the surgical instrument 200 is positioned is greater than both the first threshold distance and the second threshold distance. In this scenario, both the first wrist joint 803 and the second wrist joint 805 are freely controlled by the control device 4 and are not assigned joint motion restrictions.

[0055] It will be appreciated by those skilled in the art that the structures and methods specifically described herein and shown in the accompanying drawings are non-limiting exemplary embodiments, and description, disclosure, and drawings should be understood only as exemplary specific embodiments. Therefore, it should be understood that the present disclosure is not limited to the exact embodiments described, and that various other changes and modifications can be achieved by those skilled in the art without departing from the scope or spirit of the present disclosure. In addition, without departing from the scope of the present disclosure, the elements and features shown or described in conjunction with certain embodiments can be combined with the elements and features of certain other embodiments, and such modifications and variations are also included in the scope of the present disclosure. Therefore, the subject matter of the present disclosure is not limited by the content that has been specifically displayed and described.

Claims

1. A method for selectively attaching a joint motion restriction to a surgical instrument, the method comprising: detecting proximal or distal linear movement of the surgical instrument; determining when the detected linear movement of the surgical instrument is distal linear movement or proximal linear movement; calculating a distance between a tool center point and a remote center of motion of the surgical instrument after the proximal or distal linear movement; assigning a binding joint motion restriction to the surgical instrument based on the calculated distance when the detected linear movement is a distal linear movement; and assigning a non-binding joint motion restriction to the surgical instrument based on the calculated distance when the detected linear movement is a proximal linear movement, Wherein the binding joint motion restriction and the non-binding joint motion restriction are based on a joint motion restriction ramp, the joint motion restriction ramp comprising at least one of a linear, quadratic, power curve, or some other shape.

2. The method according to claim 1, further comprising: When the detected linear movement is a proximal linear movement, determining a current joint motion angle of the surgical instrument; and A determination is made as to when the current articulation angle of the surgical instrument is greater than the assigned non-binding articulation limit.

3. The method according to claim 2, wherein when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit, the current joint motion angle of the surgical instrument is not affected and the surgical instrument remains unconstrained by the non-binding joint motion limit.

4. The method of claim 2, wherein when the current joint motion angle of the surgical instrument is not greater than the assigned non-binding joint motion limit, the method further comprises: articulating the surgical instrument to a new articulation angle based on the received user command; and A determination is made as to when the new articulation angle of the surgical instrument is less than the assigned non-binding articulation limit.

5. The method of claim 4, wherein when it is determined that the new joint motion angle is not less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected and the surgical instrument remains unconstrained by the non-binding joint motion limit.

6. The method according to claim 4, wherein when it is determined that the new joint motion angle is less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected, and the method further comprises converting the non-binding joint motion limit into a binding joint motion limit.

7. A robotic surgery system, comprising: a surgical robotic arm including a surgical instrument disposed on a distal portion thereof; as well as a controller operably coupled to the surgical robotic arm, the controller being configured to: establishing a software-based remote center of motion of the surgical instrument of the surgical robotic arm based on a location of a surgical portal in the patient through which the surgical instrument is inserted; detecting proximal or distal linear movement of the surgical instrument; determining when the detected linear movement of the surgical instrument is distal linear movement or proximal linear movement; calculating a distance between a tool center point of the surgical instrument and the remote center of motion after the proximal or distal linear movement; assigning and binding a joint motion limit to the surgical instrument based on the calculated distance when the detected linear movement is distal linear movement; and assigning a non-binding joint motion restriction to the surgical instrument based on the calculated distance when the detected linear movement is a proximal linear movement, Wherein the binding joint motion restriction and the non-binding joint motion restriction are based on a joint motion restriction ramp, the joint motion restriction ramp comprising at least one of a linear, quadratic, power curve, or some other shape.

8. The robotic surgery system of claim 7, wherein the controller is further configured to: When the detected linear movement is a proximal linear movement, determining a current articulation angle of the surgical instrument; and A determination is made as to when the current articulation angle of the surgical instrument is greater than the assigned non-binding articulation limit.

9. The robotic surgical system according to claim 8, wherein when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit, the current joint motion angle of the surgical instrument is not affected and the surgical instrument remains free from the constraints of the non-binding joint motion limit.

10. The robotic surgery system of claim 8, wherein when the current joint motion angle of the surgical instrument is not greater than the assigned non-binding joint motion limit, the controller is further configured to: articulating the surgical instrument to a new articulation angle based on the received user command; and A determination is made as to when the new articulation angle of the surgical instrument is less than the assigned non-binding articulation limit.

11. The robotic surgical system of claim 10, wherein when it is determined that the new joint motion angle is not less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected and the surgical instrument remains free from the non-binding joint motion limit.

12. The robotic surgical system of claim 10, wherein when it is determined that the new joint motion angle is less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected, and the controller converts the non-binding joint motion limit into a binding joint motion limit.

13. A non-transitory computer-readable storage medium encoded with a program that, when executed by a processor, performs a method comprising: Detecting proximal or distal linear movement of surgical instruments; determining when the detected linear movement of the surgical instrument is distal linear movement or proximal linear movement; calculating a distance between a tool center point and a remote center of motion of the surgical instrument after the proximal or distal linear movement; assigning and binding a joint motion limit to the surgical instrument based on the calculated distance when the detected linear movement is distal linear movement; and assigning a non-binding joint motion restriction to the surgical instrument based on the calculated distance when the detected linear movement is a proximal linear movement, Wherein the binding joint motion restriction and the non-binding joint motion restriction are based on a joint motion restriction ramp, the joint motion restriction ramp comprising at least one of a linear, quadratic, power curve, or some other shape.

14. The non-transitory computer-readable storage medium of claim 13, wherein the method further comprises: When the detected linear movement is a proximal linear movement, determining a current joint motion angle of the surgical instrument; and A determination is made as to when the current articulation angle of the surgical instrument is greater than the assigned non-binding articulation limit.

15. A non-temporary computer-readable storage medium according to claim 14, wherein when the current joint motion angle of the surgical instrument is greater than the assigned non-binding joint motion limit, the current joint motion angle of the surgical instrument is not affected and the surgical instrument remains free from the constraints of the non-binding joint motion limit.

16. The non-transitory computer-readable storage medium of claim 14, wherein when the current joint motion angle of the surgical instrument is not greater than the assigned non-binding joint motion limit, the method further comprises: articulating the surgical instrument to a new articulation angle based on the received user command; and A determination is made as to when the new articulation angle of the surgical instrument is less than the assigned non-binding articulation limit.

17. A non-transitory computer-readable storage medium according to claim 16, wherein when it is determined that the new joint motion angle is not less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected and the surgical instrument remains free from the constraints of the non-binding joint motion limit.

18. A non-transitory computer-readable storage medium according to claim 16, wherein when it is determined that the new joint motion angle is less than the assigned non-binding joint motion limit, the new joint motion angle of the surgical instrument is not affected, and the method further includes converting the non-binding joint motion limit into a binding joint motion limit.

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