Systems and methods for activating a manually operated system using link interaction sensing

Abstract

A robotically-enabled medical system capable of manual manipulation is described. The robotically-enabled medical system can include a robotic arm and a sensor architecture. The sensor architecture can include one or more non-joint based sensors positioned to detect a first force exerted on the robotic arm. The robotically-enabled medical system can be configured to determine whether sensor data received from the sensor architecture satisfies a first criterion. For example, the first criterion can be satisfied in accordance with a determination that the first force exceeds a first threshold force. The robotically-enabled medical system can be configured to transition the robotic arm from a position control mode to a manual manipulation mode in accordance with a determination that the first criterion is satisfied.

Description

Technical Field

[0001] The systems and methods disclosed herein relate to robotic medical systems, and more specifically to robotic control arms within robotic medical systems. Background Technology

[0002] Robot-enabled medical systems can perform a variety of medical procedures, including both minimally invasive procedures (such as laparoscopy) and non-invasive procedures (such as endoscopy). In endoscopic procedures, the system may be able to perform bronchoscopy, ureteroscopy, gastroscopy, and so on.

[0003] Such robotic medical systems may include robotic arms configured to control the movement of medical instruments during a given medical procedure. To achieve a desired pose of the medical instrument, the robotic arm may be positioned in an appropriate pose during a setup process. Some robot-enabled medical systems may include arm supports (e.g., rods) that are attached to and support a corresponding base of the robotic arm. Summary of the Invention

[0004] Before the procedure begins, an operator (e.g., physician assistant, medical staff, etc.) may need to set the robotic arms and adjustable arm supports of the robotic medical system to the desired overall configuration. In some cases, the operator may manually manipulate one or more robotic arms to their respective configurations during setup (e.g., using admittance-mode control, impedance-mode control, or a combination thereof), but the operator must activate input controls (e.g., pressing a button, activating user interface controls on a touchscreen, etc.) to put the robotic arms into manual manipulation mode (e.g., admittance-mode control, impedance-mode control, etc.). In some cases, depending on the position of the robotic arm relative to the operator and / or depending on the position of the input controllers, it may be inconvenient or difficult for the operator to reach the input controls without having to overextend themselves or walk around the operating room. This limitation on when and how the robotic arms transition from position control mode to manual manipulation mode makes the setup process very cumbersome and time-consuming. This also increases the risk of tripping and collisions with other people or objects in the operating room when the operator walks around the operating room and / or tries to reach the input controls from uncomfortable or inconvenient positions. Because the setup process places a significant operational burden on the operator, the risk of operator error also increases.

[0005] Furthermore, during surgery, patients or healthcare personnel may accidentally come into contact with an un-docked robotic arm, resulting in excessive contact force. Excessive contact force can cause injury to patients or healthcare personnel during surgery. Additionally, requiring operators to move the patient or touch input controls before removing the robotic arm may introduce the additional risk of unintended collisions and contact with the patient or another object in the operating room.

[0006] For at least these reasons, there is a need for improved robotic medical systems. In particular, there is a need for a robotic medical system that senses interactions on a robotic arm (e.g., on the links, joints, etc. of the robotic arm) and conditionally enables a manual manipulation mode of the robotic arm based on sensor data.

[0007] As disclosed herein, instead of requiring the operator to touch dedicated controls at a fixed location relative to the robotic medical system, a sensor architecture comprising sensors distributed across multiple zones of the robotic arm is used to capture sensor data about how the operator contacts and / or interacts with the robotic arm. Based on this sensor data, the operator's intention to activate a manual manipulation mode of the robotic arm is computationally determined by the robotic medical system based on an evaluation of various pre-established criteria against the sensor data. This allows the robotic medical system to intelligently activate manual manipulation modes according to many different ways of touching and / or interacting with the robotic arm, which the operator can easily, conveniently, and intuitively perform from many different locations near the robotic medical system. Therefore, the operator's workload during setup of the robotic medical system is reduced, and the efficiency and safety of using the robotic medical system are improved.

[0008] Furthermore, when a patient or healthcare worker accidentally comes into contact with an unconnected robotic arm during surgery, the robotic medical system automatically activates the robotic arm's admittance mode or impedance mode control to remove the arm from the point of contact or collision (e.g., automatically and / or under manual manipulation), instead of requiring the operator to move the patient or touch input controls before removing the robotic arm. This allows for the resolution of excessive contact forces on the patient or healthcare worker. The robotic medical system can activate the robotic arm's admittance mode or impedance mode control in response to a collision or contact force and / or torque exceeding a preset threshold and / or in response to the operator directly pushing or pulling on the robotic arm's links and / or joints. This advantageously improves the safety of the patient and / or operator during surgery.

[0009] The systems, methods, and apparatuses disclosed herein each have several innovative aspects, none of which are solely responsible for the desired properties disclosed herein.

[0010] According to some embodiments of this disclosure, a robotic system includes a robotic arm. The robotic system also includes a sensor architecture. The sensor architecture includes one or more jointless sensors positioned to detect a first force applied to the robotic arm. The robotic system also includes one or more processors and a memory. The memory stores instructions that, when executed by the one or more processors, cause the processors to determine whether sensor data received from the sensor architecture meets a first criterion. Meeting the first criterion is achieved by determining that the first force exceeds the first threshold force. Upon determining that the first criterion is met, including determining that the first force exceeds the first threshold force, the processor switches the robotic arm from a position control mode to a manual manipulation mode.

[0011] In some implementations, the manual operation mode includes an impedance mode.

[0012] In some implementations, the one or more connector-based sensors include a combination of force and torque sensors.

[0013] In some implementations, the one or more non-joint sensors include at least one sensor located between a pair of joints on the robotic arm.

[0014] In some implementations, the one or more non-connector sensors include at least a first sensor located in the distal portion of the robotic arm.

[0015] In some cases, the robot system also includes a tool actuator mounted on the first sensor, such that the first sensor detects the force applied by the tool actuator.

[0016] In some cases, the primary sensor is a six-axis load cell.

[0017] In some implementations, the one or more connector-based sensors include one or more contact sensors located on one or more links of the robotic arm.

[0018] In some cases, contact sensors can detect the forces and torques applied to the robotic arm.

[0019] In some implementations, the sensor architecture also includes one or more joint-based sensors positioned to detect a second force applied to the robotic arm.

[0020] In some cases, the first criterion is met based on the determination that the first force detected by the non-joint-based sensor and the second force detected by the joint-based sensor satisfy a preset requirement combination for the first force and the second force. The memory also includes instructions that, when executed by one or more processors, cause the processor to: based on the determination that the first criterion is satisfied, including determining that the first force and the second force satisfy a preset requirement combination for the first force and the second force, switch the robotic arm from the position control mode to the manual manipulation mode.

[0021] In some implementations, the memory further stores instructions that, when executed by one or more processors, cause the processor to: generate outputs to assist the movement of the robot arm during manual manipulation mode, based on the physical manipulation of the robot arm by the operator.

[0022] In some implementations, the memory further stores instructions that, when executed by one or more processors, cause the processors to monitor the movement of the robotic arm during a manual manipulation mode. Based on determining that the movement meets a second criterion, wherein the second criterion is met by determining that the movement of the robotic arm during the manual manipulation mode is below a movement threshold level, the one or more processors switch the robotic arm from the manual manipulation mode to the position control mode.

[0023] In some implementations, the first criterion includes the requirement that the robotic arm is in an un-docked configuration in order to meet the first criterion.

[0024] In some implementations, the robot system further includes an input interface that, when activated by a preset input, causes one or more processors to switch the robot arm from the position control mode to the manual operation mode.

[0025] In some embodiments, the robot system further includes one or more additional robotic arms. The robot system also includes an input interface that remotely activates impedance control of the first robotic arm and / or the additional robotic arms.

[0026] In another aspect of this disclosure, a robotic system includes a robotic arm. The robotic system also includes a sensor architecture. The sensor architecture includes one or more sensors positioned to detect forces and / or torques applied to the robotic arm. The robotic system also includes one or more processors and a memory. The memory stores instructions that, when executed by the one or more processors, cause the processors to determine whether sensor data received from the sensor architecture meets a first criterion. The first criterion is met based on determining that the force detected by the one or more sensors exceeds a first threshold force or based on determining that the torque detected by the one or more sensors exceeds a first threshold torque. Based on determining that the first criterion is met, the processor switches the robotic arm from a position control mode to a manual manipulation mode.

[0027] In some implementations, the one or more sensors include a six-axis load cell.

[0028] In some implementations, the one or more sensors include multiple contact sensors.

[0029] In some cases, the robotic arm includes an outer surface. The plurality of contact sensors engage with a housing covering the outer surface of the robotic arm.

[0030] In some cases, the detected force and torque are a combination of the corresponding force and / or corresponding torque detected by the corresponding one of the plurality of contact sensors.

[0031] In some implementations, the one or more sensors include at least a non-joint-based sensor positioned away from the joint of the robotic arm.

[0032] In some implementations, the one or more sensors include at least a joint-based sensor positioned on a joint of the robotic arm.

[0033] In some implementations, the manual operation mode includes an impedance mode.

[0034] In some implementations, the memory further stores instructions that, when executed by one or more processors, cause the processor to: generate outputs to assist the movement of the robot arm during manual manipulation mode, based on the physical manipulation of the robot arm by the operator.

[0035] In some implementations, the memory further stores instructions that, when executed by one or more processors, cause the processors to monitor the movement of the robotic arm during a manual manipulation mode. Based on determining that the movement meets a second criterion, wherein the second criterion is met by determining that the movement of the robotic arm during the manual manipulation mode is below a movement threshold level, the processor switches the robotic arm from the manual manipulation mode to the position control mode.

[0036] In some implementations, the first criterion includes the requirement that the robotic arm is in an un-docked configuration in order to meet the first criterion.

[0037] In some implementations, the robot system further includes an input interface that, when activated by a preset input, causes one or more processors to switch the robot arm from the position control mode to the manual operation mode.

[0038] It should be noted that the various embodiments described above can be combined with any other embodiments described herein. The features and advantages described in the specification are not exhaustive, and in particular, many additional features and advantages will be apparent to those skilled in the art, taking into account the drawings, specification, and claims. Furthermore, it should be noted that the language used in the specification has been chosen primarily for readability and guidance purposes and may not be intended to depict or limit the subject matter of the invention. Attached Figure Description

[0039] The disclosed aspects will be described below in conjunction with the accompanying drawings, which are provided to illustrate and not limit the disclosed aspects, wherein similar reference numerals denote similar elements.

[0040] Figure 1 An implementation scheme of a cart-based robotic system deployed for the diagnosis and / or treatment of bronchoscopy procedures is shown.

[0041] Figure 2 Depicting Figure 1 Another aspect of robotic systems.

[0042] Figure 3 The setup for ureteroscopy is shown. Figure 1 The implementation plan for the robot system.

[0043] Figure 4 The diagram shows the arrangement used for vascular procedures. Figure 1 The implementation plan for the robot system.

[0044] Figure 5 An implementation scheme of a table-based robotic system deployed for bronchoscopy procedures is shown.

[0045] Figure 6 Provided Figure 5 An alternative view of the robot system.

[0046] Figure 7 An exemplary system configured to retract a robotic arm is shown.

[0047] Figure 8 An implementation scheme of a table-based robotic system constructed for ureteroscopy procedures is shown.

[0048] Figure 9 An implementation scheme of a table-based robotic system constructed for laparoscopic procedures is shown.

[0049] Figure 10 It shows Figures 5 to 9 An implementation scheme for a platform-based robot system with pitch and tilt adjustment.

[0050] Figure 11 Provided Figures 5 to 10 A detailed diagram of the interface between the platform and the column of the platform-based robotic system.

[0051] Figure 12 An alternative implementation of a stage-based robotic system is shown.

[0052] Figure 13 It shows Figure 12 An end view of a platform-based robotic system.

[0053] Figure 14 An end view of a platform-based robotic system with a robotic arm attached is shown.

[0054] Figure 15 An exemplary device driver is shown.

[0055] Figure 16 An exemplary medical device with paired instrument drivers is shown.

[0056] Figure 17 An alternative design of the instrument actuator and the instrument is shown, wherein the axis of the actuator is parallel to the axis of the slender axis of the instrument.

[0057] Figure 18 An instrument with an instrument-based insertion architecture is shown.

[0058] Figure 19 An example controller is shown.

[0059] Figure 20 A block diagram according to an exemplary embodiment is depicted, illustrating the estimation Figures 1 to 10 The location of one or more components of a robotic system (such as...) Figures 16 to 18 A positioning system for the location of instruments.

[0060] Figure 21 An exemplary robotic system according to some implementation schemes is shown.

[0061] Figure 22 Another view of an exemplary robotic system according to some implementation schemes is shown.

[0062] Figure 23A and Figure 23B Different views of exemplary robotic arms according to some implementation schemes are shown.

[0063] Figures 24A to 24D The sensor architecture of a robotic arm according to some implementation schemes is shown.

[0064] Figure 25 An exemplary link of a robotic arm according to some implementation schemes is shown.

[0065] Figure 26A and Figure 26B The sensor distribution along the links of the robot arm is shown according to some implementation schemes.

[0066] Figure 27 An exemplary interaction with a link in a robotic arm is shown according to some implementation schemes.

[0067] Figure 28A and Figure 28B A flowchart of a method for manually manipulating a robotic arm according to some implementation schemes is shown.

[0068] Figure 29 A flowchart of method 900 for manually manipulating a robotic arm according to some embodiments is shown. Detailed Implementation

[0069] 1. Overview .

[0070] The aspects of this disclosure can be integrated into robot-enabled medical systems capable of performing a variety of medical procedures, including minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. In endoscopic procedures, the system may be able to perform bronchoscopy, ureteroscopy, gastroscopy, etc.

[0071] In addition to executing a wide range of procedures, the system can provide additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system allows physicians to execute procedures from an ergonomic orientation, eliminating the need for cumbersome arm movements and positioning. Additionally, the system provides physicians with improved ease of use, enabling one or more instruments within the system to be controlled by a single user.

[0072] For illustrative purposes, various embodiments will be described below in conjunction with the accompanying drawings. It should be understood that many other embodiments of the disclosed concepts are possible, and various advantages can be achieved using the disclosed embodiments. Titles are included herein for reference and to aid in locating the various sections. These titles are not intended to limit the scope of the concepts described therein. Such concepts may be applicable throughout the specification.

[0073] A. Robotic System – Cart .

[0074] Robot-enabled medical systems can be configured in a variety of ways, depending on specific procedures. Figure 1 An embodiment of a cart-based robot-enabled system 10 arranged for diagnostic and / or therapeutic bronchoscopy procedures is illustrated. During bronchoscopy, system 10 may include a cart 11 having one or more robotic arms 12 to deliver medical instruments, such as a manipulable endoscope 13 (which may be a procedure-specific bronchoscope for bronchoscopy), to a natural orifice entry point (i.e., the patient's mouth positioned on the table in this example), to deliver diagnostic and / or therapeutic tools. As shown, cart 11 may be positioned near the patient's upper torso to provide access to the entry point. Similarly, robotic arms 12 may be actuated to position the bronchoscope relative to the entry point. When performing GI procedures using a gastroscopy (a dedicated endoscope for gastrointestinal (GI) procedures), the same approach may be used. Figure 1 The layout within. Figure 2 An exemplary implementation of the cart is described in more detail.

[0075] Continue to refer to Figure 1Once the trolley 11 is correctly positioned, the robotic arm 12 can robotically, manually, or in combination thereof insert the maneuverable endoscope 13 into the patient. As shown, the maneuverable endoscope 13 may include at least two telescopic portions, such as an inner guide portion and an outer sheath portion, each portion being coupled to a separate instrument actuator from a set of instrument actuators 28, each instrument actuator being coupled to the distal end of a separate robotic arm. This linear arrangement of the instrument actuators 28, which facilitates coaxial alignment of the guide portion and the sheath portion, creates a “virtual track” 29, which can be repositioned in space by maneuvering one or more robotic arms 12 to different angles and / or positions. The virtual track described herein is depicted using dashed lines in the accompanying drawings, and therefore the dashed lines do not depict any physical structure of the system. Translation of the instrument actuators 28 along the virtual track 29 causes the inner guide portion to extend or retract relative to the outer sheath portion, or to advance or retract the endoscope 13 from the patient. The angle of the virtual track 29 can be adjusted, translated, and pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and position of the virtual track 29 shown in the figure represent a trade-off between providing the physician with access to the endoscope 13 and minimizing friction caused by the endoscope 13 bending into the patient's mouth.

[0076] After insertion, endoscope 13 can be guided downwards through the patient's trachea and lungs using precise commands from the robotic system until the target destination or surgical site is reached. To enhance navigation through the patient's lung network and / or reach the desired target, endoscope 13 can be manipulated to telescopically extend the inner guide portion from the outer sheath portion to achieve enhanced joint movement and a larger radius of flexion. The use of separate instrument actuators 28 also allows the guide portion and sheath portion to be driven independently of each other.

[0077] For example, endoscope 13 can be guided to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle can be deployed downwards along a working channel that extends the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathological findings, additional tools can be deployed downwards along the working channel of the endoscope for additional biopsies. After the nodule is identified as malignant, endoscope 13 can be used to deliver endoscopic tools to remove the potential cancerous tissue. In some cases, diagnostic and therapeutic procedures can be delivered in a separate procedure. In these cases, endoscope 13 can also be used to deliver a reference point to “mark” the location of the target nodule. In other cases, diagnostic and therapeutic procedures can be delivered during the same procedure.

[0078] System 10 may also include a movable tower 30, which can be connected to the trolley 11 via support cables to provide control, electronic, fluid, optical, sensor, and / or electrical support to the trolley 11. Placing such functionality in the tower 30 allows for a smaller form factor trolley 11 that can be more easily adjusted and / or repositioned by the operating physician and his / her staff. Additionally, the division between the trolley / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the trolley 11 can be positioned close to the patient, the tower 30 can be retracted in a remote location to avoid obstructing the path during procedures.

[0079] To support the aforementioned robotic system, tower 30 may include components of a computer-based control system that stores computer program instructions in a non-transitory computer-readable storage medium such as a permanent magnet memory drive, a solid-state drive, etc. Whether execution occurs within tower 30 or cart 11, the execution of these instructions can control the entire system or its subsystems. For example, when executed by the processor of the computer system, the instructions can cause components of the robotic system to actuate relevant brackets and arm mounts, actuate the robotic arm, and control medical devices. For instance, in response to receiving a control signal, a motor in the joint of the robotic arm can position the arm into a specific posture.

[0080] Tower 30 may also include pumps, flow meters, valve controllers, and / or fluid passages to provide controlled flushing and suction capabilities to a system that can be deployed via endoscope 13. These components may also be controlled using a computer system of tower 30. In some embodiments, flushing and suction capabilities may be delivered directly to endoscope 13 via a separate cable.

[0081] Tower 30 may include voltage and surge protectors designed to provide filtered and protected power to trolley 11, thereby avoiding the need to place power transformers and other auxiliary power components in trolley 11, resulting in a smaller and more mobile trolley 11.

[0082] Tower 30 may also include support devices for sensors deployed throughout the robotic system 10. For example, tower 30 may include optoelectronic devices for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In conjunction with a control system, such optoelectronic devices can be used to generate real-time images for display in any number of consoles deployed throughout the system (including displays within tower 30). Similarly, tower 30 may also include electronic subsystems for receiving and processing signals received from deployed electromagnetic (EM) sensors. Tower 30 may also be used to house and position EM field generators for detection by EM sensors in or on a medical device.

[0083] In addition to other consoles available in the rest of the system (e.g., a console mounted on top of a cart), tower 30 may also include console 31. Console 31 may include a user interface and display, such as a touchscreen, for physician operators. Consoles in system 10 are generally designed to provide both robot control and preoperative and real-time information for procedures, such as navigation and positioning information for endoscope 13. When console 31 is not the only console available to the physician, it may be used by a second operator (such as a nurse) to monitor the patient's health or vital signs and system operation, as well as to provide procedure-specific data, such as navigation and positioning information. In other embodiments, console 30 is housed in a separate body from tower 30.

[0084] Tower 30 can be connected to cart 11 and endoscope 13 via one or more cables or connectors (not shown). In some embodiments, support functions from tower 30 can be provided to cart 11 via a single cable, thereby simplifying the operating room and eliminating clutter. In other embodiments, specific functions can be coupled in separate wiring and connections. For example, while power to the cart can be provided via a single cable, support for control, optics, fluid, and / or navigation can also be provided via separate cables.

[0085] Figure 2 Provided from Figure 1 The illustration shows a detailed implementation of a cart-based robot-enabled system. The cart 11 typically includes an elongated support structure 14 (often referred to as a "post"), a cart base 15, and a console 16 at the top of the post 14. The post 14 may include one or more brackets, such as those for supporting one or more robotic arms 12. Figure 2 The bracket 17 (or alternatively, "arm support") is deployed in three configurations. The bracket 17 may include a separately configurable arm mount that rotates along a vertical axis to adjust the base of the robotic arm 12 for better positioning relative to the patient. The bracket 17 also includes a bracket interface 19 that allows the bracket 17 to translate vertically along the post 14.

[0086] The bracket interface 19 is connected to the post 14 via a slot, such as slot 20, which is positioned on the opposite side of the post 14 to guide the vertical translation of the bracket 17. Slot 20 includes a vertical translation interface to position and hold the bracket relative to the trolley base 15 at various vertical heights. The vertical translation of the bracket 17 allows the trolley 11 to adjust the reach of the robotic arm 12 to accommodate various table heights, patient sizes, and physician preferences. Similarly, separately configurable arm mounts on the bracket 17 allow the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0087] In some embodiments, slot 20 may be supplemented with a slot cover flush and parallel to the slot surface to prevent dust and fluid from entering the internal cavity of column 14 and the vertical translation interface during the vertical translation of bracket 17. The slot cover can be deployed via a pair of spring reels positioned near the vertical top and bottom of slot 20. The cover is coiled within the reels until it is deployed to extend and retract from its coiled state during the vertical up-and-down translation of bracket 17. The spring load of the reels provides the force to retract the cover into the reels as bracket 17 translates toward the reels, while maintaining a tight seal as bracket 17 translates away from the reels. The cover can be attached to bracket 17 using, for example, a bracket in bracket interface 19, to ensure proper extension and retraction of the cover during the translation of bracket 17.

[0088] The column 14 may internally include mechanisms such as gears and motors, which are designed to mechanically translate the bracket 17 using vertically aligned lead screws in response to control signals generated in response to user input (e.g., input from the console 16).

[0089] A robotic arm 12 typically includes a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, and each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each arm in the arm 12 has seven joints and thus provides seven degrees of freedom. Multiple joints result in multiple degrees of freedom, thus allowing for “redundant” degrees of freedom. Redundant degrees of freedom allow the robotic arm 12 to position its corresponding end effector 22 in a specific orientation, orientation, and trajectory in space using different link orientations and joint angles. This allows the system to locate and guide medical devices from desired points in space, while allowing physicians to move the arm joints to a clinically advantageous orientation away from the patient to achieve greater proximity while avoiding arm collisions.

[0090] The trolley base 15 balances the weight of the column 14, bracket 17, and arm 12 on the floor. Therefore, the trolley base 15 houses heavier components such as electronics, motors, power supplies, and components that enable the trolley to move and / or be stationary. For example, the trolley base 15 includes rollable wheel-shaped casters 25 that allow the trolley to move easily around the room before the procedure. Once in the correct position, the casters 25 can be secured using wheel locks to hold the trolley 11 in the correct position during the procedure.

[0091] The console 16, positioned at the vertical end of column 14, allows both a user interface for receiving user input and a display screen (or dual-purpose device, such as, for example, touchscreen 26) to provide both preoperative and intraoperative data to the physician user. Potential preoperative data on touchscreen 26 may include preoperative planning, navigation, and mapping data derived from preoperative computed tomography (CT) scans and / or records from preoperative patient interviews. Intraoperative data on the display screen may include optical information from tools and sensors, coordinate information from sensors, and important patient statistics such as respiration, heart rate, and / or pulse. The console 16 can be positioned and tilted to allow the physician to access it from the side of column 14 opposite to bracket 17. From this orientation, the physician can operate the console 16 from behind cart 11 while observing the console 16, robotic arm 12, and patient. As shown, the console 16 also includes a handle 27 for assisting in manipulating and stabilizing cart 11.

[0092] Figure 3 An embodiment of a robot-enabled system 10 arranged for ureteroscopy is shown. In a ureteroscopy procedure, a trolley 11 is positioned to deliver a ureteroscope 32 (a procedure-specific endoscope designed to traverse the patient's urethra and ureter) to the patient's lower abdominal region. During ureteroscopy, it is desirable to align the ureteroscope 32 directly with the patient's urethra to reduce friction and force on sensitive anatomical structures in that region. As shown, the trolley 11 can be aligned at the foot of the table to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access into the patient's urethra. The robotic arm 12 can insert the ureteroscope 32 directly into the patient's lower abdomen through the urethra from the foot of the table along a virtual track 33.

[0093] After insertion into the urethra, using control techniques similar to those used in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be guided into the ureter and kidney to break up accumulated kidney stones using a laser or ultrasonic lithotripsy device deployed downwards along the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed downwards along the ureteroscope 32.

[0094] Figure 4A similar implementation of a robot-enabled system for vascular procedures is shown. In vascular procedures, system 10 can be configured such that a cart 11 delivers a medical device 34 (such as a manipulable catheter) to an entry point in the femoral artery in the patient's leg. The femoral artery presents both a relatively large diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in ureteroscopy procedures, the cart 11 can be positioned toward the patient's leg and lower abdomen to allow the robotic arm 12 to provide a virtual track 35 for direct linear access to the femoral artery entry point in the patient's thigh / hip region. After insertion into the artery, the medical device 34 can be guided and inserted via a translational device actuator 28. Alternatively, the cart can be positioned around the patient's upper abdomen to reach alternative vascular entry points, such as the carotid and brachial arteries near the shoulder and wrist.

[0095] B. Robot System – Unit .

[0096] Implementation plans for robot-enabled medical systems can also incorporate patient-integrated tables. Integrating tables reduces the amount of capital equipment in the operating room by removing trolleys, allowing for greater accessibility to the patient. Figure 5 An embodiment of such a robot-enabled system arranged for a bronchoscopy procedure is shown. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a “table” or “bed”) on a floor. Much like a trolley-based system, the end effector of the robotic arm 39 of system 36 includes an instrument actuator 42, which is designed to manipulate elongated medical instruments, such as… Figure 5 The bronchoscope 40 is used in the bronchoscopy. In practice, the C-arm used to provide fluorescence imaging can be positioned above the patient's upper abdominal region by placing the transmitter and detector around the stage 38.

[0097] Figure 6An alternative view of system 36 without a patient and medical devices is provided for discussion purposes. As shown, column 37 may include one or more brackets 43, shown as annular in system 36, upon which one or more robotic arms 39 may be based. The brackets 43 may translate along a vertical column interface 44 extending along the length of column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The brackets 43 may be rotated about column 37 using mechanical motors positioned within column 37 to allow the robotic arms 39 to access multiple sides of table 38, such as both sides of the patient. In embodiments with multiple brackets, the brackets may be individually positioned on the column and may translate and / or rotate independently of other brackets. While the brackets 43 need not be circular or even encircling column 37, the annular shape shown facilitates rotation of the brackets 43 about column 37 while maintaining structural balance. Rotation and translation of the brackets 43 allow the system to align medical devices such as endoscopes and laparoscopes to different access points on the patient. In other embodiments (not shown), system 36 may include a patient examination table or bed with an adjustable arm support, which takes the form of a rod or rail extending beside the patient examination table or bed. One or more robotic arms 39 (e.g., via a shoulder with an elbow joint) may be attached to the adjustable arm support, which can be vertically adjusted. By providing vertical adjustment, the robotic arms 39 can advantageously be compactly stored under the patient examination table or bed and subsequently raised during procedures.

[0098] Arm 39 can be mounted on a bracket via a set of arm mounts 45 comprising a series of joints that can be individually rotated and / or telescopically extended to provide additional constructability to the robotic arm 39. Additionally, the arm mounts 45 can be positioned on the bracket 43 such that, when the bracket 43 is properly rotated, the arm mounts 45 are positioned on the same side of the platform 38 (e.g., ...). Figure 6 As shown), on the opposite side of platform 38 (as shown) Figure 9 (as shown) or on the adjacent side of platform 38 (not shown).

[0099] Column 37 structurally supports platform 38 and provides a path for the vertical translation of the bracket. Internally, column 37 may be equipped with a lead screw for guiding the vertical translation of the bracket, and a motor for mechanizing the translation of the bracket based on the lead screw. Column 37 may also transmit electrical and control signals to bracket 43 and robotic arm 39 mounted thereon.

[0100] Platform base 46 has with Figure 2The trolley base 15 in the illustrated trolley 11 functions similarly, accommodating heavier components to balance the table / bed 38, column 37, bracket 43, and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during operation. Casters deployed from the bottom of the table base 46 extend in opposite directions on either side of the base 46 and retract when the system 36 requires movement.

[0101] continue Figure 6 System 36 may also include a tower (not shown) that divides the functionality of system 36 between the table and the tower to reduce the form factor and volume of the table. As in previously disclosed embodiments, the tower may provide the table with various support functions such as processing, computing and control capabilities, electrical, fluid and / or optical, and sensor processing. The tower may also be movable to be positioned away from the patient, thereby improving physician accessibility and eliminating clutter in the operating room. Additionally, placing components in the tower allows for more storage space in the base of the table for potential retraction of the robotic arm. The tower may also include a main controller or console that provides a user interface such as a keyboard and / or the tower for user input, and a display screen (or touchscreen) for preoperative and intraoperative information such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a holder for gas canisters to be used for inflatation.

[0102] In some implementations, the base can be retracted and stored when not in use. Figure 7 A system 47 for retracting a robotic arm is illustrated in an embodiment of a platform-based system. In system 47, a bracket 48 can be vertically translated into a base 49 to retract the robotic arm 50, arm mount 51, and bracket 48 within the base 49. A base cover 52 can be translated and retracted to open to deploy the bracket 48, arm mount 51, and arm 50 around a post 53, and to close to retract the bracket, arm mount, and arm for protection when not in use. The base cover 52 can be sealed along the edge of its opening using a membrane 54 to prevent dust and fluid from entering when closed.

[0103] Figure 8An embodiment of a robot-enabled table-based system configured for a ureteroscopy procedure is illustrated. During ureteroscopy, table 38 may include a rotating portion 55 for positioning the patient at an angle to the column 37 and table base 46. The rotating portion 55 may rotate or pivot about a pivot point (e.g., below the patient's head) to position the lower portion of the rotating portion 55 away from the column 37. For example, pivoting of the rotating portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without competing for space with the column (not shown) below table 38. By rotating a bracket 35 (not shown) about the column 37, a robotic arm 39 can insert a ureteroscope 56 directly into the patient's groin region along a virtual track 57 to reach the urethra. During ureteroscopy, stirrups 58 may also be fixed to the rotating portion 55 of table 38 to support the orientation of the patient's legs during the procedure and allow full access to the patient's groin region.

[0104] In laparoscopic procedures, minimally invasive instruments are inserted into the patient's anatomical structures through one or more small incisions in the abdominal wall. In some embodiments, the minimally invasive instruments include elongated rigid components, such as axes, for accessing the anatomical structures within the patient. After the patient's abdominal cavity is inflated, the instruments can be guided to perform surgical or medical tasks, such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments may include endoscopes, such as laparoscopes. Figure 9 An implementation of a table-based, robot-enabled system configured for laparoscopic procedures is shown. Figure 9 As shown, the bracket 43 of system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of table 38, so that the instrument 59 can be positioned through the smallest incision on both sides of the patient to reach his / her abdominal cavity using arm mount 45.

[0105] To accommodate laparoscopic procedures, the robot-enabled platform system can also tilt the platform to the desired angle. Figure 10 An implementation scheme for a robot-enabled medical system with pitch or tilt adjustment is shown. For example... Figure 10 As shown, system 36 can adapt to the tilt of platform 38 to position one part of the platform at a greater distance from the base plate than the other part. Additionally, arm mount 45 is rotatable to match the tilt, ensuring that arm 39 maintains the same planar relationship with platform 38. To accommodate steeper angles, column 37 may also include a telescopic portion 60 that allows vertical extension of column 37 to prevent platform 38 from contacting the floor or colliding with base 46.

[0106] Figure 11Detailed illustrations are provided of the interface between platform 38 and column 37. The pitch-rotation mechanism 61 can be configured to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom. The pitch-rotation mechanism 61 can be implemented by positioning orthogonal axes 1, 2 at the column interface, each axis being actuated by separate motors 3, 4 in response to electrical pitch angle commands. Rotation along one screw 5 enables tilt adjustment along axis 1, while rotation along another screw 6 enables tilt adjustment along another axis 2. In some embodiments, ball joints may be used to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom.

[0107] For example, pitch adjustment is particularly useful when attempting to position the table in the Trendrenburg position (i.e., positioning the patient's lower abdomen higher than the floor) for lower abdominal surgery. The head-down, feet-up position causes the patient's internal organs to slide down to his / her upper abdomen by gravity, clearing the abdominal cavity to allow minimally invasive instruments to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0108] Figure 12 and Figure 13 Isometric and end views of an alternative embodiment of a stage-based surgical robot system 100 are shown. The surgical robot system 100 includes one or more robotic arms (see, for example) that can be configured to support a stage 101 relative to it. Figure 14 One or more adjustable arm supports 105 are provided. In the illustrated embodiment, a single adjustable arm support 105 is shown, but additional arm supports may be positioned on opposite sides of the platform 101. The adjustable arm support 105 may be configured such that it is movable relative to the platform 101 to adjust and / or change the position of the adjustable arm support 105 and / or any robotic arm attached to it relative to the platform 101. For example, the adjustable arm support 105 may be adjusted with one or more degrees of freedom relative to the platform 101. The adjustable arm support 105 provides high flexibility to the system 100, including the ability to easily retract the one or more adjustable arm supports 105 and any robotic arms attached thereto under the platform 101. The adjustable arm support 105 may be raised from the retracted position to a position below the upper surface of the platform 101. In other embodiments, the adjustable arm support 105 may be raised from the retracted position to a position above the upper surface of the platform 101.

[0109] The adjustable arm support 105 provides several degrees of freedom, including lifting, lateral translation, and tilting. Figure 12 and Figure 13 In the exemplary embodiment, the arm support 105 is configured to have four degrees of freedom, which are in Figure 12The arrows indicate the first degree of freedom, which allows adjustment of the adjustable arm support 105 in the z-direction (“Z-lift”). For example, the adjustable arm support 105 may include a bracket 109 configured to move up or down along or relative to the column 102 of the support platform 101. The second degree of freedom allows the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 may include a rotary joint that allows the adjustable arm support 105 to be aligned with the bed in a head-down, feet-up position. The third degree of freedom allows the adjustable arm support 105 to “pivot upwards”, which can be used to adjust the distance between one side of the platform 101 and the adjustable arm support 105. The fourth degree of freedom allows the adjustable arm support 105 to translate along the longitudinal length of the platform.

[0110] Figure 12 and Figure 13 The surgical robot system 100 may include a platform supported by a column 102 mounted to a base 103. The base 103 and the column 102 support the platform 101 relative to a support surface. A floor axis 131 and a support axis 133 are... Figure 13 As shown in the image.

[0111] The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the platform 101 or the base 103. The adjustable arm support 105 may include a bracket 109, a rod or rail connector 111, and a rod or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to each other.

[0112] The bracket 109 can be attached to the post 102 via a first connector 113, which allows the bracket 109 to move relative to the post 102 (e.g., such as up and down movement along a first axis or vertical axis 123). The first connector 113 can provide a first degree of freedom (“Z-lift”) to the adjustable arm support 105. The adjustable arm support 105 may include a second connector 115, which provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 may include a third connector 117, which provides a third degree of freedom (“upward pivot”) to the adjustable arm support 105. An additional connector 119 may be provided (in... Figure 13 (As shown in the diagram), the additional joint mechanically constrains the third joint 117 to maintain the orientation of the guide rail 107 as the guide rail connector 111 rotates about the third axis 127. The adjustable arm support 105 may include a fourth joint 121 that can provide a fourth degree of freedom (translation) for the adjustable arm support 105 along the fourth axis 129.

[0113] Figure 14An end view of a surgical robot system 140A according to one embodiment, having two adjustable arm supports 105A, 105B mounted on opposite sides of a stage 101, is shown. A first robotic arm 142A is attached to a rod or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, a second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to be attached to one or more robotic medical instruments or tools.

[0114] In some embodiments, one or more of the robotic arms 142A and 142B include an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A and 142B may include eight degrees of freedom, including an insertion axis (including one degree of freedom for insertion), a wrist (including three degrees of freedom for wrist pitch, yaw, and roll), an elbow (including one degree of freedom for elbow pitch), a shoulder (including two degrees of freedom for shoulder pitch and yaw), and a base 144A and 144B (including one degree of freedom for translation). In some embodiments, the insertion degree of freedom may be provided by the robotic arms 142A and 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

[0115] C. Instrument drivers and interfaces .

[0116] The end effector of the system's robotic arm includes (i) an instrument actuator (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") incorporating electromechanical devices for actuating the medical device, and (ii) a removable or detachable medical device that may not contain any electromechanical components, such as motors. This dichotomy may be driven by the need to sterilize medical devices used in medical procedures, and the inability to adequately sterilize expensive capital equipment due to its complex mechanical components and sensitive electronics. Therefore, the medical device can be designed to be detached, removed, and interchanged from the instrument actuator (and thus from the system) for individual sterilization or disposal by a physician or physician staff. In contrast, the instrument actuator does not need to be altered or sterilized and can be covered for protection.

[0117] Figure 15An example instrument actuator is shown. The instrument actuator 62, positioned at the distal end of a robotic arm, includes one or more drive units 63 arranged parallel to the axis to provide controlled torque to a medical device via a drive shaft 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the device, a gear head 65 for converting motor shaft rotation into desired torque, a motor 66 for generating drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to control circuitry, and control circuitry 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument actuator 62 can provide multiple (e.g., ...) to the medical device. Figure 15 Four independent drive outputs are shown. In operation, the control circuit 68 receives control signals, transmits motor signals to the motor 66, compares the motor speed measured by the encoder 67 with the desired speed, and modulates the motor signals to generate the desired torque.

[0118] For procedures requiring a sterile environment, the robotic system can incorporate a drive interface, such as a sterile adapter connected to a sterile cover, positioned between the instrument actuator and the medical device. The primary purpose of the sterile adapter is to transmit angular motion from the drive shaft of the instrument actuator to the drive input of the device, while maintaining physical separation between the drive shaft and the drive input, and thus maintaining sterility. Therefore, an exemplary sterile adapter may include a series of rotary inputs and rotary outputs designed to mate with the drive shaft of the instrument actuator and the drive input on the device. The sterile cover, composed of a thin, flexible material (such as transparent or translucent plastic), is connected to the sterile adapter and designed to cover the capital device, such as an instrument actuator, robotic arm, and trolley (in trolley-based systems) or table (in table-based systems). The use of the cover allows the capital device to be positioned near the patient while still within an area that does not require sterilization (i.e., a non-sterile area). On the other side of the sterile cover, the medical device can dock with the patient in an area that requires sterilization (i.e., a sterile area).

[0119] D. Medical devices .

[0120] Figure 16An example medical device with paired instrument actuators is shown. Similar to other devices designed for use with robotic systems, the medical device 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as the “instrument handle” due to its intended design for manual interaction by a physician, typically includes a rotatable drive input 73 (e.g., a socket, pulley, or reel) designed to mate with a drive output 74 on a drive interface extending through the distal end of the robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 can share a rotational axis with the drive output 74 in the instrument driver 75 to allow torque to be transmitted from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may include a spline designed to mate with a socket on the drive input 73.

[0121] The elongated shaft 71 is designed to be delivered through an anatomical opening or cavity (e.g., as in endoscopy) or through a minimally invasive incision (e.g., as in laparoscopy). The elongated shaft 71 can be flexible (e.g., having endoscope-like properties) or rigid (e.g., having laparoscopy-like properties), or a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from a connector wrist formed by a connecting fork having at least one degree of freedom and a surgical tool or medical instrument (such as, for example, a gripper or scissors), which can be actuated based on forces from a tendon when the drive input rotates in response to torque received from the drive output 74 of the instrument actuator 75. When designed for endoscopy, the distal end of the flexible elongated shaft can include a manipulable or controllable bending segment that articulates and bends based on torque received from the drive output 74 of the instrument actuator 75.

[0122] Torque from the instrument actuator 75 is transmitted downwards along shaft 71 to the elongated shaft 71 via tendons. These individual tendons (e.g., traction cables) may be individually anchored to individual drive inputs 73 within the instrument handle 72. From the handle 72, tendons are guided downwards along one or more traction chambers of the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or at the wrist at the distal portion of the elongated shaft. During surgical procedures such as laparoscopy, endoscopy, or hybrid procedures, these tendons may be coupled to distally mounted end effectors, such as wrists, grippers, or scissors. In such an arrangement, torque applied to the drive input 73 transmits tension to the tendons, thereby actuating the end effector in a certain way. In some embodiments, during surgical procedures, the tendons may cause the connector to rotate about the axis, thereby causing the end effector to move in one direction or the other. Alternatively, tendons may be coupled to one or more jaws of a gripper at the distal end of the elongated shaft 71, wherein tension from the tendons causes the gripper to close.

[0123] During endoscopy, tendons can be attached via adhesives, control rings, or other mechanical fasteners to flexural or articulated segments positioned along an elongated axis 71 (e.g., at the distal end). When fixedly attached to the distal end of a flexural segment, torque applied to a drive input 73 is transmitted down the tendon, causing the softer flexural segment (sometimes referred to as an articulated segment or region) to flex or articulate. Along non-flexural segments, it can be advantageous to helve or coil individual traction cavities that guide individual tendons along the wall (or inside) of the endoscope axis to balance radial forces caused by tension in the traction lines. For specific purposes, the angle of the helices and / or the spacing between them can be varied or designed, with tighter helices exhibiting less axial compression under load, while lower helical amounts cause greater axial compression under load but also exhibit restricted flexion. Alternatively, traction cavities can be guided parallel to the longitudinal axis of the elongated axis 71 to allow controlled articulation within the desired flexural or articulated segment.

[0124] In endoscopic procedures, the elongated shaft 71 houses multiple components to assist in robotic procedures. The shaft may include a working channel for deploying surgical instruments (or medical devices), irrigation components, and / or suction components to an operating area at the distal end of the shaft 71. The shaft 71 may also house wires and / or optical fibers to transmit signals to / from optical components at the distal end, which may include an optical camera. The shaft 71 may also house optical fibers to carry light from a proximal light source (such as a light-emitting diode) to the distal end of the shaft.

[0125] At the distal end of the instrument 70, the distal end may also include an opening for delivering tools for diagnostic and / or treatment, irrigation, and aspiration to the surgical site. The distal end may also include a port for a camera (such as a fiberoptic endoscope or digital camera) to capture images of the internal anatomical space. Relatedly, the distal end may also include a port for a light source used to illuminate the anatomical space when the camera is used.

[0126] exist Figure 16 In the example, the axis of the drive shaft, and therefore the axis of the drive input, is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the rolling capability of the elongated shaft 71. Rolling the elongated shaft along its axis while keeping the drive input 73 stationary can cause undesirable tangling of the tendon as it extends from the drive input 73 and enters the traction cavity within the elongated shaft 71. Such tangling of the tendon can disrupt any control algorithm designed to predict the movement of the flexible elongated shaft during endoscopic procedures.

[0127] Figure 17 An alternative design of the instrument actuator and instrument is shown, wherein the axis of the drive unit is parallel to the axis of the slender axis of the instrument. As shown, the circular instrument actuator 80 includes four drive units whose drive outputs 81 are aligned parallel to each other at the end of the robot arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument actuator 80, driven by one of the drive units within assembly 83. In response to torque provided by the rotating drive unit, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to the non-rotating portion 84 of the instrument actuator. Electrical and control signals can be transmitted from the non-rotating portion 84 of the instrument actuator 80 to the rotating assembly 83 via electrical contacts, and these signals can be maintained by rotation of a brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 may respond to a separate drive unit integrated into the non-rotating portion 84 and is therefore not parallel to the other drive units. The rotation mechanism 83 allows the instrument actuator 80 to allow the drive units and their respective drive outputs 81 to rotate as a single unit about the instrument actuator axis 85.

[0128] Similar to previously disclosed embodiments, the device 86 may include an elongated shaft portion 88 and a device base 87 (shown as having a transparent outer surface for discussion purposes), the device base including a plurality of drive inputs 89 (such as sockets, pulleys, and reels) configured to receive drive outputs 81 in the device driver 80. Unlike previously disclosed embodiments, the device shaft 88 extends from the center of the device base 87, and the axis of the device base is substantially parallel to the axes of the drive inputs 89, rather than... Figure 16 It is orthogonal as in the design.

[0129] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and the instrument shaft 88, rotates in combination with the rotating assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is positioned at the center of the instrument base 87, it is coaxial with the instrument driver axis 85 when attached. Therefore, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Furthermore, when the instrument base 87 rotates together with the instrument shaft 88, any tendons connected to the drive input 89 in the instrument base 87 do not become entangled during rotation. Therefore, the parallelism of the axes of the drive output 81, the drive input 89, and the instrument shaft 88 allows the shaft to rotate without causing any control tendons to become entangled.

[0130] Figure 18 An instrument with an instrument-based insertion architecture according to some embodiments is shown. Instrument 150 is connectable to any of the instrument drivers described above. Instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a shank 170 connected to the shaft 152. The elongated shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 includes one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 passing through the grooves. Thus, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 may also pass through the elongated shaft 152. Manipulation of the one or more cables 180 (e.g., via an instrument driver) actuates the end effector 162.

[0131] The instrument handle 170 (also referred to as the instrument base) typically includes an attachment interface 172 having one or more mechanical inputs 174, such as jacks, pulleys, or spools, which are designed to reciprocately engage with one or more torque couplers on the attachment surface of the instrument actuator.

[0132] In some embodiments, the instrument 150 includes a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself includes an instrument-based insertion architecture that adapts to the insertion of the instrument, thereby minimizing reliance on a robotic arm to provide the insertion of the instrument 150. In other embodiments, the robotic arm may be largely responsible for the instrument insertion.

[0133] E. Controller .

[0134] Any of the robotic systems described herein may include an input device or controller for manipulating a device attached to a robotic arm. In some embodiments, the controller may be coupled to the device (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) such that manipulation of the controller, for example via master-slave control, causes corresponding manipulation of the device.

[0135] Figure 19 This is a perspective view of an embodiment of controller 182. In this embodiment, controller 182 includes a hybrid controller that may have both impedance and admittance control. In other embodiments, controller 182 may utilize only impedance or passive control. In other embodiments, controller 182 may utilize only admittance control. By being a hybrid controller, controller 182 advantageously has lower perceived inertia during use.

[0136] In the illustrated embodiment, controller 182 is configured to allow manipulation of two medical devices and includes two handles 184. Each handle 184 is connected to a universal joint 186. Each universal joint 186 is connected to a positioning platform 188.

[0137] like Figure 19 As shown, each positioning platform 188 includes a SCARA arm (selective compliant assembly robot arm) 198 connected to a post 194 via a prism joint 196. The prism joint 196 is configured to translate along the post 194 (e.g., along track 197) to allow each handle 184 to translate in the z-direction, thus providing a first degree of freedom. The SCARA arm 198 is configured to allow the handle 184 to move in the xy-plane, thus providing two additional degrees of freedom.

[0138] In some embodiments, one or more load sensors are located within the controller. For example, in some embodiments, load sensors (not shown) are located within the body of each gimbal in gimbal 186. By providing load sensors, portions of controller 182 are capable of operating under admittance control, thereby advantageously reducing the sense inertia of the controller during use. In some embodiments, positioning platform 188 is configured for admittance control, while gimbal 186 is configured for impedance control. In other embodiments, gimbal 186 is configured for admittance control, while positioning platform 188 is configured for impedance control. Thus, for some embodiments, the translational or positional degrees of freedom of positioning platform 188 may depend on admittance control, while the rotational degrees of freedom of gimbal 186 may depend on impedance control.

[0139] F. Navigation and Control .

[0140] Traditional endoscopy can involve the use of fluoroscopy (e.g., delivered via a C-arm) and other forms of radiation-based imaging modalities to provide intracavitary guidance to the operating physician. In contrast, the robotic system envisioned in this disclosure can provide radiation-free navigation and positioning, reducing physician exposure to radiation and the amount of equipment required in the operating room. As used herein, the term "positioning" can refer to determining and / or monitoring the orientation of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to achieve a radiation-free operating environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to improve upon information obtained solely through radiation-based imaging modalities.

[0141] Figure 20 This is a block diagram illustrating a positioning system 90 for estimating the position of one or more components of a robotic system (such as the position of a machine) according to an exemplary embodiment. The positioning system 90 may be one or more computer devices configured to execute one or more instructions. The computer devices may be embodied by a processor (or multiple processors) and computer-readable storage among the components discussed above. By way of example and not limitation, the computer device may be located in... Figure 1 Tower 30 shown Figures 1 to 4 The trolley shown Figures 5 to 14 The bed, etc. shown.

[0142] like Figure 20 As shown, the positioning system 90 may include a positioning module 95 that processes input data 91-94 to generate position data 96 for the distal end of a medical device. The position data 96 may be data or logic representing the position and / or orientation of the distal end of the device relative to a reference frame. The reference frame may be relative to a patient's anatomy or a known object (such as an EM field generator) (see the discussion of EM field generators below).

[0143] The various input data are now described in more detail 91-94. Preoperative mapping can be accomplished using a collection of low-dose CT scans. The preoperative CT scans are reconstructed into three-dimensional images, which are visualized, for example, as “slices” of cross-sectional views of the patient’s internal anatomy. When analyzed in whole, image-based models of the anatomical cavities, spaces, and structures of the patient’s anatomical structures, such as the patient’s lung network, can be generated. Techniques such as centerline geometry can be determined and approximated from CT images to form a three-dimensional volume of the patient’s anatomy, which is referred to as model data 91 (also referred to as “preoperative model data” when generated using only preoperative CT scans). The use of centerline geometry is discussed in U.S. Patent Application 14 / 523,760, the contents of which are incorporated herein by reference in their entirety. Network topology models can also be derived from CT images and are particularly well-suited for bronchoscopy.

[0144] In some implementations, the device may be equipped with a camera to provide visual data 92. The positioning module 95 can process the visual data to enable one or more vision-based position tracking methods. For example, preoperative model data can be used in conjunction with visual data 92 to enable computer vision-based tracking of a medical device (e.g., an endoscope or an instrument propelled through the working channel of an endoscope). For example, using preoperative model data 91, the robotic system can generate a library of expected endoscope images based on the model, with each image linked to a location within the model, based on the expected path of the endoscope's movement. In operation, the robotic system can refer to this library to compare real-time images captured at a camera (e.g., a camera at the distal end of the endoscope) with those images in the image library to aid in positioning.

[0145] Other computer vision-based tracking techniques use feature tracking to determine camera motion, and thus, endoscope motion. Some features of the localization module 95 can identify circular geometries corresponding to anatomical cavities in the preoperative model data 91 and track changes in those geometries to determine which anatomical cavity has been selected, as well as track the relative rotation and / or translational motion of the camera. The use of a topology map can further enhance vision-based algorithms or techniques.

[0146] Optical flow (another computer vision-based technique) can analyze the displacement and translation of image pixels in a video sequence within visual data 92 to infer camera movement. Examples of optical flow techniques can include motion detection, object segmentation calculation, brightness, motion compensation coding, stereo parallax measurement, and more. Through multiple iterations and comparisons of multiple frames, the movement and position of the camera (and therefore the endoscope) can be determined.

[0147] The positioning module 95 can use real-time EM tracking to generate the real-time position of the endoscope in a global coordinate system that can be registered to the patient's anatomy represented by a preoperative model. In EM tracking, an EM sensor (or tracker), including one or more sensor coils embedded in one or more locations and orientations within the medical instrument (e.g., an endoscopic tool), measures changes in the EM field generated by one or more static EM field generators positioned at known locations. The positional information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed close to the patient to generate a low-intensity magnetic field detectable by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "registered" to the patient's anatomy (e.g., a preoperative model) during surgery to determine the geometric transformations that align a single location in the coordinate system with its orientation in the preoperative model of the patient's anatomy. Once registered, an embedded EM tracker in one or more orientations of the medical device (e.g., the distal end of an endoscope) can provide real-time indication of the medical device’s progress through the patient’s anatomy.

[0148] Robot commands and kinematic data 94 can also be used by the positioning module 95 to provide orientation data 96 for the robotic system. Device pitch and yaw, derived from joint movement commands, can be determined during preoperative calibration. During surgery, these calibration measurements can be combined with known insertion depth information to estimate the instrument's orientation. Alternatively, these calculations can be analyzed in conjunction with EM, vision, and / or topology modeling to estimate the medical device's orientation within the network.

[0149] Figure 20 As shown, the positioning module 95 can use multiple other input data. For example, although Figure 20 Not shown, but the device using shape sensing fibers can provide shape data, which the positioning module 95 can use to determine the position and shape of the device.

[0150] The localization module 95 can use the input data 91-94 in combination. In some cases, such combination can use a probabilistic method, where the localization module 95 assigns confidence weights to the location determined based on each of the input data 91-94. Therefore, in cases where the EM data may be unreliable (e.g., in the presence of EM interference), the confidence of the location determined by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or robot commands and kinematic data 94.

[0151] As discussed above, the robotic systems discussed in this paper can be designed as a combination of one or more of the technologies mentioned above. The computer-based control system of a robotic system located in a tower, bed, and / or trolley can store computer program instructions in, for example, a non-transitory computer-readable storage medium (such as a permanent magnetic storage drive, a solid-state drive, etc.). When executed, these computer program instructions cause the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and positioning data, such as the instrument's position in a global coordinate system, anatomical diagrams, etc.

[0152] 2. Systems, apparatus, and methods for activating manual operation modes using linkage interaction sensing.

[0153] Embodiments of this disclosure relate to systems, methods, and apparatus for manually manipulating a robotic arm using linkage interaction sensing.

[0154] According to some embodiments of this disclosure, a robotic medical system includes one or more sensors and / or sensor architectures for sensing interactions on a robotic arm (e.g., on links, joints, etc. of the robotic arm). For example, an operator of the system may push and / or grasp a portion of the robotic arm. The sensors and / or sensor architectures detect interactions on the robotic arm (e.g., force, contact, displacement, torque, etc.). Based on determining that pre-established or predefined criteria are met, the robotic system can activate manual manipulation of the robotic arm (e.g., manual manipulation mode or grab-and-go mode), thereby allowing one or more portions of the robotic arm or the entire robotic arm to be moved and / or reconfigured.

[0155] Manual manipulation is expected during setup, allowing the robotic arm to be moved and / or reconfigured. During surgery, manual manipulation can allow the robotic arm to move away from the patient and / or operator in the event of excessive contact force on the patient or operator, thereby addressing the excessive force.

[0156] A. Robotic System

[0157] Figure 21 An exemplary robotic system 200 according to some embodiments is shown. In some embodiments, the robotic system 200 is a robotic medical system (e.g., a robotic surgical system). Figure 21 In the example, the robotic system 200 includes a patient support platform 202 (e.g., a patient platform, table, bed, etc.). The two ends along the length of the patient support platform 202 are referred to as the “head” and “legs”, respectively. The two sides of the patient support platform 202 are referred to as the “left” and “right”, respectively. The patient support platform 202 includes support members 204 (e.g., a rigid frame) for the patient support platform 202.

[0158] The robot system 200 also includes a base 206 for supporting the robot system 200. The base 206 includes wheels 208, which allow the robot system to be easily moved or repositioned in the physical environment. In some embodiments, the wheels 208 are omitted from the robot system 200 or are retractable, and the base 206 can rest directly on the ground or floor. In some embodiments, the wheels 208 are replaced by feet.

[0159] The robot system 200 includes one or more robotic arms 210. The robotic arms 210 may be configured to perform the actions described in the reference above. Figures 1 to 20 The aforementioned robotic medical procedures. Although Figure 21 Five robotic arms 210 are shown, but it should be understood that the robotic system 200 may include any number of robotic arms, including fewer than five, or six or more.

[0160] The robot system 200 also includes one or more rods 220 (e.g., adjustable arm supports or adjustable rods) supporting the robot arms 210. Each robot arm in the robot arms 210 is supported on and movably coupled to the rod via a corresponding base joint of the robot arm. In some embodiments, and as... Figure 12 As described, the lever 220 can provide several degrees of freedom, including lifting, lateral translation, tilting, etc. In some embodiments, each of the robotic arm 210 and / or the adjustable arm support 220 is also referred to as a corresponding kinematic chain.

[0161] Figure 21 Three robotic arms 210 are shown, supported by rods 220 located in the field of view of the figure. The remaining two robotic arms are supported by another rod located along another length of the patient support platform 202.

[0162] In some implementations, the adjustable arm support 220 may be configured to provide a base position for one or more robotic arms in the robotic arm 210 for robotic medical procedures. The robotic arm 210 can be positioned relative to the patient support platform 202 by translating the robotic arm 210 along the length of the lower bar 220 and / or by adjusting the position and / or orientation of the robotic arm 210 via one or more joints and / or links (see, for example, FIG. 23).

[0163] In some embodiments, the adjustable arm support 220 is translatable along the length of the patient support platform 202. In some embodiments, translation of the arm 220 along the length of the patient support platform 202 causes one or more robotic arms 210 supported by the arm 220 to translate simultaneously with or relative to the arm. In some embodiments, the arm 220 can be translated while keeping one or more robotic arms stationary relative to the base 206 of the robotic medical system 200.

[0164] exist Figure 21 In the example, the adjustable arm support 220 is positioned along a portion of the length of the patient support platform 202. In some embodiments, the adjustable arm support 220 may extend over the entire length of the patient support platform 202, and / or over a portion or all of the width of the patient support platform 202.

[0165] During robotic medical procedures, one or more robotic arms of robotic arms 210 may also be configured to hold instrument 212 (e.g., a robot-controlled medical device or tool, such as an endoscope and / or any other instrument that may be used during surgery) and / or be coupled to one or more attachments, including one or more cannulas.

[0166] Figure 22 The following are illustrated according to some implementation schemes. Figure 21 Another view of an exemplary robotic system 200 is shown. In this example, the robotic medical system 200 includes six robotic arms 210-1, 210-2, 210-3, 210-4, 210-5, and 210-6. A patient platform 202 is supported by a column 214 extending between a base 206 and the patient platform 202. In some embodiments, the patient platform 202 includes a tilting mechanism 216. The tilting mechanism 216 may be positioned between the column 214 and the patient platform 202 to allow the patient platform to pivot, rotate, or tilt relative to the column 214. The tilting mechanism 216 may be configured to allow lateral tilting and / or longitudinal tilting of the patient platform 202. In some embodiments, the tilting mechanism 216 allows the patient platform 202 to tilt laterally and longitudinally simultaneously.

[0167] Figure 22 A patient platform 202 is shown in an untilted state or position. In some embodiments, the untilted state or position may be the default position of the patient platform 202. In some embodiments, the default position of the patient platform 202 is a substantially horizontal position as shown. As shown, in the untilted state, the patient platform 202 may be positioned horizontally or parallel to the surface supporting the robotic medical system 200 (e.g., the ground or floor).

[0168] Continue to refer to Figure 22In the illustrative example of the robotic system 200, the patient platform 202 includes a support 204. In some embodiments, the support 204 includes a rigid support structure or frame and can support one or more surfaces, pads, or liner 222. The upper surface of the patient platform 202 may include the support surface 224. During medical procedures, the patient may be placed on the support surface 224.

[0169] Figure 22 A robotic arm 210 and an adjustable arm support 220 are shown in an exemplary deployment configuration, with the robotic arm 210 extending above the patient platform 202. In some embodiments, the robotic arm 210 and arm support 220 may occupy space below the patient platform 202 due to the configuration of the robotic system 200 that allows different components to be retracted below the patient platform 202. Therefore, in some embodiments, it may be advantageous to configure the tilting mechanism 216 with a low profile and / or small volume to maximize the space below available for storage.

[0170] Figure 22 An exemplary x, y, and z coordinate system is also shown, which will be used to describe certain features of the embodiments disclosed herein. It should be understood that this coordinate system is provided for illustrative and illustrative purposes only, and other coordinate systems may be used. In the illustrated example, when the patient platform 202 is in a non-tilted state, the x-direction, or x-axis, extends across the patient platform 202 in a lateral direction. That is, when the patient platform 202 is in a non-tilted state, the x-direction extends across the patient platform 202 from one lateral side (e.g., the right side) to another lateral side (e.g., the left side). When the patient platform 202 is in a non-tilted state, the y-direction, or y-axis, extends along the patient platform 202 in a longitudinal direction. That is, when the patient platform 202 is in a non-tilted state, the y-direction extends along the patient platform 202 from one longitudinal end (e.g., the head end) to another longitudinal end (e.g., the leg end). In the non-tilted state, the patient platform 202 may be located in or parallel to the xy-plane, which may be parallel to the floor or ground. In the illustrated example, the z-direction, or z-axis, extends vertically along column 214. In some embodiments, tilting mechanism 216 is configured to laterally tilt patient platform 202 by rotating it about a lateral tilt axis parallel to the y-axis. Tilting mechanism 216 may be further configured to longitudinally tilt patient platform 202 by rotating it about a longitudinal tilt axis parallel to the x-axis.

[0171] B. Robotic arm

[0172] Figure 23A and Figure 23B Different views of an exemplary robotic arm 210 according to some implementation schemes are shown.

[0173] Figure 23A The robot arm 210 is shown to include multiple links 302 (e.g., linkages). The links 302 are connected by one or more joints 304. Each joint 304 includes one or more degrees of freedom (DoF).

[0174] exist Figure 23A In this embodiment, connector 304 includes a first connector 304-1 (e.g., a base connector or A0 connector) located at or near the base 306 of the robotic arm 210. In some embodiments, the base connector 304-1 includes a prism connector that allows the robotic arm 210 to translate along the rod 220 (e.g., along the y-axis). Connector 304 also includes a second connector 304-2 (e.g., an A1 connector). In some embodiments, the second connector 304-2 rotates relative to the base connector 304-1 and raises (and / or tilts) the robotic arm 210 relative to the base 306. Connector 304 also includes a third connector 304-3 (e.g., an A2 connector) connected to one end of the link 302-2. In some embodiments, connector 304-3 includes multiple DoFs and facilitates tilting and rotation of the link 302-2 relative to connector 304-3.

[0175] Figure 23A A fourth connector 304-4 (e.g., an A3 connector) connected to the other end of link 302-2 is also shown. In some embodiments, connector 304-4 includes an elbow connector connecting link 302-2 to link 302-3. Connector 304 also includes a pair of connectors 304-5 (e.g., a wrist roll connector or an A4 connector) and 304-6 (e.g., a wrist pitch connector or an A5 connector) located on the distal portion of the robotic arm 210.

[0176] The proximal end of the robotic arm 210 may be connected to the base 306, and the distal end of the robotic arm 210 may be connected to an advanced device manipulator (ADM) 308 (e.g., a tool driver, instrument driver, or robotic end effector). The ADM 308 may be configured to control the positioning and manipulation of a medical device 212 (e.g., a tool, endoscope, etc.).

[0177] The robotic arm 210 may also include an intubation sensor 310 for detecting the presence of an intubation cannula or the proximity of the cannula to the robotic arm 210. In some embodiments, when the intubation sensor 310 (e.g., via one or more processors of the robot system 200) detects the presence of an intubation cannula, the robotic arm 210 is placed in a docked state (e.g., docked position). In some embodiments, when the robotic arm 210 is in the docked position, the robotic arm 210 may perform zero-space movements to maintain the position and / or orientation of the intubation cannula, as discussed in further detail below. Conversely, when the intubation sensor 310 does not detect an intubation cannula, the robotic arm 210 is placed in an un-docked state (e.g., un-docked position).

[0178] In some implementation schemes, and as such Figure 23A As shown, the robot arm 210 includes an input or button 312 (e.g., a ring button, or other type of control, etc.) that can be used to place the robot arm 210 into an admittance mode (e.g., by pressing button 312). Admittance mode is also referred to as admittance scheme or admittance control. In admittance mode, the robot system 210 measures (e.g., the force and / or torque applied to the robot arm 210) and outputs the corresponding velocity and / or position. In some embodiments, the robot arm 210 can be manually manipulated by a user in admittance mode (e.g., during program setup, or between programs, etc.). In some cases, by using admittance control, the operator does not need to overcome all the inertia in the robot system 200 to move the robot arm 210. For example, under admittance control, when the operator applies a force to the arm, the robot system 200 can measure that force and assist the operator in moving the robot arm 210 by driving one or more motors associated with the robot arm 210, thereby obtaining the desired velocity and / or position of the robot arm 210.

[0179] In some implementations, link 302 may be detachably coupled to medical tool 212 (e.g., to facilitate easy mounting and detachment of medical tool 212 from robotic arm 210). Connector 304 provides multiple degrees of freedom (DoF) to robotic arm 210, which facilitate control of medical tool 212 via ADM 308.

[0180] Figure 23B A front view of the robotic arm 210 is shown. In some embodiments, the robotic arm 210 includes... Figure 23AButton 312 or button 314 (e.g., a press-down button) are used to place the robot arm into an impedance mode (e.g., by a single press or by pressing and holding the button repeatedly). In this example, button 304 is located between connectors A4 304-4 and A5 304-5. Impedance mode is also referred to as impedance scheme or impedance control. In impedance mode, robot system 200 measures displacement (e.g., changes in position and velocity) and outputs a force to facilitate manual movement of the robot arm. In some embodiments, robot arm 210 can be manually manipulated by a user in impedance mode (e.g., during setup procedures). In some embodiments, in impedance mode, movement of one part of robot arm 210 by the operator can drive other parts of robot arm 210 backward.

[0181] In some implementations, for admittance control, force or load sensors can measure the force applied to the robot arm 210 by the operator and move the robot arm 210 in a perceivedly light manner. Admittance control may feel lighter than impedance control because, under admittance control, the perceived inertia of the robot arm 210 can be hidden, as the motors in the controller can help accelerate the mass. In contrast, according to some implementations, in the case of impedance control, the user is responsible for most (if not all) of the mass acceleration.

[0182] In some cases, depending on the position of the robot arm 210 relative to the operator, it may be inconvenient to reach buttons 312 and / or 314 to activate manual operation modes (e.g., admittance mode and / or impedance mode). Therefore, in these cases, the operator can conveniently trigger the manual operation mode instead of triggering it via buttons.

[0183] In some embodiments, the robotic arm 210 includes a single button that can be used to place the robotic arm 210 into admittance mode and impedance mode (e.g., by using different presses, such as long press, short press, press and hold, etc.). In some embodiments, the robotic arm 210 can be placed into impedance mode by a user pushing an arm link (e.g., link 302) and / or a connector (e.g., connector 304) and overcoming a force threshold.

[0184] During medical procedures, it may be desirable for the ADM 308 of the robotic arm 210 and / or the remote center of motion (RCM) of the tool 212 connected thereto to remain in a static pose / position. The RCM can refer to a point in space where the cannula or other access port into which the medical tool 212 is inserted is restricted to motion. In some embodiments, the medical tool 212 includes an end effector that is inserted through a patient's incision or natural orifice while maintaining the RCM. In some embodiments, the medical tool 212 includes an end effector in a retracted state during the setup process of the robotic medical system.

[0185] In some implementations, the robotic system 200 may be configured to move one or more connectors 302 of the robotic arm 210 within a “zero space” to avoid collisions with nearby objects (e.g., other robotic arms), while the ADM 308 of the robotic arm 210 and / or RCM remains in its respective pose / position. The zero space can be considered as the space in which the robotic arm 210 can move without causing movement of the ADM 308 and / or RCM, thereby maintaining the position and / or orientation of the medical tool 212 (e.g., within a patient's body). In some embodiments, the robotic arm 212 may have multiple positions and / or configurations available for each pose of the ADM 308.

[0186] For a robotic arm 210 that moves an ADM 308 to a desired pose in space, in some embodiments, the robotic arm 210 may have at least six DoFs—three DoFs for translation (e.g., X, Y, Z positions) and three DoFs for rotation (e.g., yaw, pitch, and roll). In some embodiments, each joint 304 may provide a robotic arm 210 with a single DoF, and thus the robotic arm 210 may have at least six joints to achieve the translational degrees of freedom to position the ADM 308 in any pose in space. To further maintain the ADM 308 and / or remote center or motion of the robotic arm 210 in the desired pose, the robotic arm 210 may further have at least one additional “redundant joint.” Thus, in some embodiments, the system may include a robotic arm 210 with at least seven joints 304, providing a robotic arm 210 with at least seven DoFs. In some embodiments, the robotic arm 210 may include a subset of joints 304, each joint having more than one degree of freedom, thereby achieving additional DoFs for null-space motion. However, depending on the implementation, the robotic arm 210 may have more or fewer DoFs.

[0187] In addition, such as Figure 12As described, the lever 220 (e.g., an adjustable arm support) provides several degrees of freedom, including lifting, lateral translation, tilting, etc. Therefore, depending on the implementation, the robotic medical system can have more degrees of freedom for robotic control than those only in the robotic arm 210, to provide zero-space movement and collision avoidance. In corresponding embodiments of these implementations, the end effectors of one or more robotic arms (and any tools or instruments coupled thereto) and / or a remote center along the axis of the tool can advantageously maintain the patient's pose and / or position within the body.

[0188] The robotic arm 210, having at least one redundant DoF, has at least one more DoF than the minimum number of DoFs required to perform a given task. For example, according to some embodiments, the robotic arm 210 may have at least seven DoFs, where one of the joints 304 of the robotic arm 210 can be considered a redundant joint. One or more redundant joints can allow the robotic arm 210 to move in null space to both maintain the pose of the ADM 308 and the position of the RCM while avoiding collisions with other robotic arms or objects.

[0189] In some embodiments, the robot system 200 can be configured to perform collision avoidance to prevent, for example, collisions between adjacent robot arms 210 by utilizing the movement of one or more redundant joints in null space. For example, when robot arm 210 collides with or approaches another robot arm 210 (e.g., within a defined distance), one or more processors of the system can be configured to detect the collision or impending collision (e.g., by kinematics). Therefore, the robot system 200 can control one or both robot arms 210 to adjust their respective joints in null space to avoid the collision or impending collision. In one embodiment involving a pair of robot arms, the base of one of the robot arms and its end effector can maintain its pose while the link or joint between them moves in null space to avoid collisions with adjacent robot arms.

[0190] C. Sensor Architecture

[0191] Figures 24A to 24D The sensor architecture of a robotic arm 210 according to some implementation schemes is shown.

[0192] In some embodiments, the robotic arm 210 includes a sensor architecture that provides sensor data to enable activation of a manual manipulation mode. In some embodiments, the sensor architecture includes one or more connector-based sensors (e.g., located at connector 304). In some embodiments, the sensor architecture includes one or more connector-free sensors. The connector-free sensors may be positioned along the length of the link 302 of the robotic arm 210 and / or positioned on the ADM 308. The sensors (both connector-based and connector-free) detect interactions between the robotic arm 210 and external objects (e.g., an operator, a patient, another robotic arm, surgical instruments, and / or the underlying lever 220).

[0193] In some implementations, the connector-based sensor includes a connector sensor 402 (e.g., an A0 connector sensor). Figure 24A In the example, the A0 connector sensor 402 is located on connector 304-1 (e.g., a base connector or A0 connector), near the base 306 of the robot arm 210. In some embodiments, the A0 connector sensor 402 includes a force sensor that allows the detection of interactive forces on the proximal end of the robot arm 210. In some embodiments, the A0 connector sensor 402 serves as activation detection for transitioning the robot arm 210 from a position control mode to a manual manipulation mode (e.g., impedance mode, admittance mode, on-demand mode, etc.).

[0194] In some implementations, the sensor architecture includes additional connector-based sensors located on other connectors of the robotic arm 210 (e.g., sensors located on connectors A1 304-2, A2 304-3, A3 304-4, etc.).

[0195] In some implementations, the sensor architecture also includes a six-axis load sensor 404. The six-axis load sensor 404 has the capability to measure forces in six directions, meaning it can measure the X, Y, and Z axes, as well as rotation about each axis. In other words, the six-axis load sensor 404 is a force and torque (e.g., torque) sensor capable of sensing (e.g., detecting and measuring) forces and torques in multiple directions.

[0196] In some implementation schemes, and as such Figure 24AAs shown, a six-axis load cell 404 is located between a pair of connectors (e.g., between connectors A4 304-5 and A5 304-6) on the distal portion of the arm 210. The six-axis load cell 404 can serve as a support mount for a tool actuator (e.g., ADM 308). Therefore, the six-axis load cell 404 can measure forces and / or torques that will be detected on the distal side of the robot arm 210 (e.g., via the tool actuator). In some embodiments, the six-axis load cell 404 is located directly between connectors A4 304-5 and A5 304-6 without a link (e.g., without link 302-4).

[0197] In some implementations, the sensor architecture also includes a contact sensor 408 (e.g., a housing sensor). Although Figure 24B The example illustrates fourteen contact sensors (e.g., 408-1 to 408-14), but it should be understood that the robotic arm 210 may include any number of contact sensors 408. In some embodiments, the contact sensors 408 include force and / or torque sensors and can detect (e.g., measure) forces and / or torques in multiple directions. In some embodiments, the housing sensor 408 is positioned along the length of a link 302, such as a link on the proximal portion and / or the distal portion of the robotic arm 210.

[0198] In some implementations, the contact sensor 408 is located in an area of ​​the robotic arm 210 known to frequently collide with the patient during surgery. Figure 24C Three views of the distal portion of the robotic arm 210 are shown, in which the area 410, which has a relatively high probability of colliding with the patient, is occluded. Figure 24D The proximal portion of the robotic arm 201 is shown (e.g., in...). Figure 24C Three views of the proximal side of the distal portion of the robotic arm 210, in which the area 412 with a relatively high probability of colliding with the patient is occluded.

[0199] use Figure 24C As an example, in section 410-1 of (i), in some embodiments, ADM 308 includes one or more contact sensors 408 that detect interactions at or near ADM 308. In some embodiments, a manual manipulation mode is activated on the robot arm 210 based on determining that the measured force and / or torque exceeds a corresponding threshold. Furthermore, the transition to manual manipulation mode may be based on determining that the robot arm 210 is not docked. Additionally and / or alternatively, in some embodiments, interactions with the ADM (e.g., forces and torques) may be detected (directly or indirectly) by a six-axis load sensor 404 on which the ADM is mounted.

[0200] Figure 25An exemplary link 302 of a robotic arm 210 according to some embodiments is shown.

[0201] In some implementation schemes, and as such Figure 25 As shown, the connecting rod 302 includes a rigid housing 502, a structural connecting rod 504, a structural cover 506, a first joint 508 (e.g., As2 joint 304-2 in FIG. 23), a second joint 510 (e.g., A3 joint 304-3 in FIG. 23), a pair of reaction paddles 512, and a housing cover 514 (e.g., a decorative cover). The structural cover 506 can be attached to the structural connecting rod 504 to accommodate components of the structural connecting rod 504 and forms an internal structural connection between the first joint 508 and the second joint 510.

[0202] In some embodiments, housing 502 is used to detect contact (e.g., via an external object) on robot arm 210. For example, housing 502, together with housing cover 514, is suspended above and around structural link 504. Relative movement between housing 502 and internal components / members of link 302 (e.g., structural link 504 and structural cover 506) can be detected using one or more sensors (e.g., contact sensor 408) disposed along the length of link 302 to determine contact with an external object.

[0203] In some embodiments, one or more of the contact sensors 408 (e.g., housing sensors) are strategically positioned at different locations along the length of the link 302, between the structural link 504 and the housing 502 of the link 302. For example, the housing 502 may be suspended above the structural link 504 via the sensor 408.

[0204] In some embodiments, the contact sensors 408 are uniformly distributed along the length of the link 302. In some embodiments, the contact sensors 408 may be randomly distributed along the length of the link 302. Alternatively, in some embodiments, a greater number of sensors 408 may be located in specific areas of the link 302 (e.g., in areas known to have more contact with an external object). In some embodiments, regardless of the distribution of the sensors 408, because the housing 502 surrounds the structural link 504, when the link 302 contacts the external object, the object will contact the housing 502. Therefore, the force and / or torque sensing contact sensors 408 can detect the contact between the housing 502 and the external object. The sensors 408 can also measure changes in force and / or torque in all directions between the housing 502 and the structural link 504 caused by the contact between the link 302 and the external object.

[0205] In some implementations, one or more conventional load sensors, force-sensing resistors, and / or any components capable of sensing force, torque, and / or displacement (e.g., in combination with a spring) may be used instead of contact sensor 408 (or, in addition to the contact sensor, one or more conventional load sensors, force-sensing resistors, and / or any components capable of sensing force, torque, and / or displacement) for detecting interaction with an external object.

[0206] As used herein, unless the context clearly indicates otherwise, housing 504 and housing cover 514 may be collectively referred to simply as “housing” 504, and structural link 504 and structural cover 506 may be collectively referred to simply as structural link 504 or operable link (e.g., link 302).

[0207] Figure 26A and Figure 26B The sensor distribution along the links of the robot arm 210 is shown according to some embodiments.

[0208] Figure 26A (i) and (ii) respectively illustrate exemplary side and front views of one end of link 600 according to some embodiments. In some embodiments, link 600 corresponds to a proximal link of robot arm 210 (e.g., link 302-2 in FIG. 23). In this example, one end of link 600 includes seven contact sensors (e.g., 408-1 to 408-7). In some embodiments, because link 600 (e.g., link 302-2) can be substantially symmetrical at both ends, there are a total of fourteen sensors 408 in link 600.

[0209] Figure 26B (i) and (ii) respectively illustrate exemplary side and front views of link 650 according to some embodiments. In some embodiments, link 650 corresponds to the distal link of robot arm 210 (e.g., Figure 23A (Link 302-3 in the example). In this example, link 650 includes twelve contact sensors 408.

[0210] exist Figure 26A and Figure 26B In this configuration, sensor 408 is oriented in different directions. In some embodiments, each sensor in sensor 408 is an individual force sensor (e.g., a single-axis force sensor), and robot system 200 combines all sensors to output a centralized (e.g., combined) force and torque values. Therefore, by positioning the sensors as shown in Figure 26 and... Figure 27 Forces and / or moments in all directions can be detected in the various orientations shown.

[0211] although Figure 26A and Figure 26B Embodiments of links 302, each including multiple contact sensors 408, are shown. However, in some embodiments, links 302 may include a single sensor configured to sense force and / or torque and / or displacement between structural link 504 and housing 502 in multiple directions. In some embodiments, using signals received from sensors 408, robot system 200 can detect the direction of contact between housing 502 and an external object. Robot system 200 can also measure the magnitude of the force caused by the contact between housing 502 and the external object based on signals from sensors 408. Based on the placement of sensors 408, robot system 200 can also detect torque (e.g., moment) applied to link 302. For example, if a force is applied to housing 502, some sensors 408 (e.g., on one end of link 302-2 or link 302-3) may be compressed. Based on the position of the compressed sensor 408 and the force sensed by that sensor, robot system 200 can determine the torque applied to link 302.

[0212] In some implementations, the combination of the aforementioned joint-based sensors (e.g., joint-based sensor 402) and jointless sensors (e.g., six-axis load sensor 404 and contact sensor 408 located in and / or in high-collision areas of link 302) provides a unique sensor architecture for activating manual manipulation (e.g., impedance mode) on the robotic arm 210.

[0213] In some cases, the user can apply force to the robot arm 210 during setup to move it (e.g., as in a pick-and-go mode). In this case, the user can simply apply force to the robot arm 210 instead of touching input buttons (e.g., buttons 312 and / or 314 in Figure 23). If any of the aforementioned sensors or any set of sensors measures a force above a predetermined threshold when the robot arm 210 is not docked, the processor will set the robot arm 210 to a manual operation mode (e.g., impedance mode), thereby allowing manual manipulation of the robot arm 210. In some embodiments, during manual operation mode, the processor maintains (e.g., repeatedly, continuously, etc.) monitoring the joint movement of the robot arm 210. In some embodiments, the processor exits manual operation mode based on determining that the joint speed is below a predetermined threshold within a predetermined time period. Upon exiting manual operation mode, the robot arm 210 is then set to a position control mode to maintain its current position.

[0214] Alternatively, in some implementations, the force may originate from the patient during surgical procedures. In this case, if any one or any set of the aforementioned sensors measures a force exceeding a predetermined threshold, the robotic arm 210 can be switched to a manual manipulation mode, whereby the operator can move the arm (or a portion thereof) away from the object of contact to reduce the contact force, thereby improving patient safety.

[0215] D. Exemplary interaction between a contact sensor and a linkage

[0216] Figure 27 A to Figure 27 D illustrates an exemplary interaction with the links of the robotic arm 210 according to some implementation schemes.

[0217] Figure 27 A illustrates contact between an external object (e.g., a user) and a link 210-2 of the robotic arm 302. This contact includes a force 704 on the link 302-2 and is positioned around the area 702. For example, force 704 could represent a force generated by a user's pick-and-go action on the robotic arm 210.

[0218] In some implementation schemes, and as such Figure 25 As discussed in Figure 26, link 302-2 includes contact sensors 408 distributed along the length of link 302-2. In some embodiments, according to Figure 26A In the example shown, link 302-2 corresponds to the proximal link and includes multiple (e.g., 14) contact sensors 408 distributed in link 302-2.

[0219] In some implementations, each of the sensors 408 in the link 302-2 includes a force sensor. For example... Figure 25 As discussed herein, because housing 502 surrounds structural link 504 and sensor 408 is located between housing 502 and structural link 504, sensor 408 can detect the force exerted on housing 502 by an external object even if the sensor is not in direct contact with the object. In some embodiments, each sensor in sensor 408 measures and outputs a corresponding force measurement result, such as Figure 27 As shown in Figure B. In some implementations, the robot system 200 (e.g., via one or more processors) determines whether to trigger a manual manipulation mode based on the force distribution.

[0220] In some implementations, each of the sensors 408 in the connecting rod 302-2 includes a torque sensor. Each torque sensor (except for those located directly above or below the contact point) measures and outputs a corresponding torque measurement result, such as... Figure 27 As shown in C.

[0221] In some implementations, one or more processors of the robot system 200 may combine at least a subset of force and / or torque measurements from the sensor 408 to produce a combined force output and / or a combined torque output. Figure 27 D is an exemplary force and torque diagram of link 302-2, wherein force and torque measurements from sensors 408 at each end of link 302-2 are combined. In this example, force measurements from sensors 408 (e.g., sensors 408-1 to 302-7) located near end 706 of link 402-2 are combined to produce combined forces Fx_A, Fy_A, and Fz_A. Torque measurements are combined to produce combined torques Mx_A, My_A, and Mz_A. Force measurements from sensors 408 (e.g., sensors 408-8 to 408-14) located near end 708 of link 302-2 are combined to produce combined forces Fx_B, Fy_B, and Fz_B. Torque measurements are combined to produce combined torques Mx_B, My_B, and Mz_B.

[0222] In some implementations, similar analysis applies to the distal link of the robotic arm 210, including sensor 408 (e.g., link 302-3). In some cases, according to Figure 26B In the example shown, the distal link may include multiple (e.g., 12) contact sensors 408 distributed in links 302-3.

[0223] In some implementations, the robotic arm 210 includes contact sensors located on a plurality of links of the robotic arm 210 (e.g., the robotic arm 210 includes contact sensors 408 located on links 302-2 and 302-3). In this case, the robot system 200 can use sensor data from various sensors located on the plurality of links to determine whether to switch the robotic arm 210 to a manual operation mode.

[0224] E. Exemplary methods and systems for activating manual manipulation of one or more robotic arms

[0225] Figure 28A and Figure 28B This is a flowchart of a manual manipulation method 800 for activating a robotic arm, according to some implementation schemes.

[0226] In some implementations, method 800 is performed by a robotic system (e.g., such as...) Figure 21 and Figure 22 One or more processors of the illustrated robotic system 200 (or another robotic medical system, etc.) execute instructions stored in the memory of the robotic system. In some embodiments, the robotic system is a robotic medical system or robotic surgical platform for performing medical procedures on a patient.

[0227] In some embodiments, the robot system includes a robotic arm (e.g., robotic arm 210, or another type of robotic arm operable in position control mode, speed control mode, and one or more manual manipulation modes, etc.). In some embodiments, the robotic arm may be the first robotic arm of two or more robotic arms in the robot system (e.g., the first robotic arm 210-1 in robotic arms 210-1, 210-2, 210-3, etc., such as...). Figure 22 (As shown). In some implementations, the robotic arm may be a single robotic arm within a robotic system.

[0228] In some implementations, the robotic system also includes a sensor architecture (e.g., as shown in Figure 24). Figure 25 The sensor architecture of the robotic arm described in Figure 26, and optionally, additional sensors distributed at various locations on and / or around the robotic system. The sensor architecture includes one or more jointless sensors positioned to detect a first force applied to the robotic arm. Further details regarding the jointless sensors are provided below and with reference to Figures 24 to 25. Figure 27 discuss.

[0229] refer to Figure 28A In some embodiments, method 800 includes determining (802) whether sensor data received from the sensor architecture meets a first criterion. In some embodiments, the first criterion is met (804) based on determining that a first force (e.g., a force applied to the robotic arm and detected by the sensor architecture) exceeds a first threshold force. In some embodiments, method 800 further includes: based on determining that the first criterion is met, including determining that the first force exceeds the first threshold force, switching the robotic arm from a position control mode to a manual manipulation mode (806).

[0230] In some implementations, the first criterion includes a standard for determining whether to switch the robot system 200 to a manual operation mode based on various types of sensor data received from the sensor architecture. Optionally, in some implementations, the sensor data may be used in conjunction with other requirements and / or other safety and operational conditions regarding the state of the robot arm, which are collectively used to determine whether the first criterion is met.

[0231] In some implementations, the first criterion includes the requirement that the robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes) is in an undoped configuration. In some implementations, a robotic arm is considered to be in an undoped configuration when its distal end is not secured to the cannula. In some implementations, during the preoperative setup phase, the operator may activate an impedance mode to position or configure the undoped robotic arm as desired, and / or remove the undoped robotic arm to make room for other robotic arms or people (e.g., patients, medical personnel, etc.) near the robotic system. In some implementations, during surgery, one or more arms of the robotic system can be doped, and the operator may remove the undoped arm to make room for medical personnel. In some implementations, when the configuration of the patient support platform 202 changes during surgery, the operator may adjust the position of the undoped arm to accommodate the changed configuration of the robotic system. In some implementations, the undoped robotic arm may accidentally encounter the patient (e.g., make contact with the patient) and exert force on the patient during surgery, and moving the undoped robotic arm away from the patient is safer. In any of the above scenarios, switching to manual operation mode based on sensor data received from the sensor architecture, rather than activating a dedicated control device or interface located at a fixed position relative to the robotic system, makes the tasks easier for the operator to perform and safer for the patient.

[0232] In some implementations, the first threshold force is a preset value (e.g., 30 Newtons, 50 Newtons, 65 Newtons, etc.) selected from a range of values ​​(e.g., 30 Newtons–70 Newtons). In some implementations, the first threshold force is an operator-configured and / or operator-configurable force threshold. In some implementations, the first criterion is met based on satisfying other conditions, without requiring the first force to exceed the first threshold force. For example, the first criterion is met based on determining that a first torque applied to the robotic arm exceeds a threshold torque, or based on determining that the contact area between the user and one or more links of the robotic arm exceeds a threshold contact area, without requiring the first force to exceed the first threshold force.

[0233] In some implementations, in position control mode, the position of the robotic arm is fixed relative to a pre-selected part of the robotic system (e.g., the adjustable arm support 220 of the robotic system 200, the patient support platform 202, or the base 206, etc.).

[0234] In some embodiments, the manual manipulation mode may include a non-power-assisted manual manipulation mode or a power-assisted manual manipulation mode, such as an impedance mode or an admittance mode. According to some embodiments, the manual manipulation mode may also include a mode in which the robotic arm can be moved and / or reconfigured by manually pushing, pulling, and / or twisting one or more portions of the robotic arm.

[0235] In some implementations, method 800 may further include: abandoning the transition of the robot arm from position control mode to manual operation mode based on determining that a first criterion is not met, including determining that the first force does not exceed a first threshold force, and keeping the robot arm in position control mode.

[0236] In some embodiments, the manual manipulation mode includes an impedance mode. In some embodiments, in impedance mode (e.g., impedance control), robot system 200 measures displacement (e.g., changes in position and velocity of the robot arm or a portion thereof) and outputs force to control the movement of robot arm 210. In some embodiments, under impedance control, manual movement of one part of robot arm 210 by an operator can cause one or more processors to drive movement of other parts of robot arm 210.

[0237] In some implementations, once the robotic arm 210 transitions from position control mode to impedance mode, one or more processors can stop maintaining the fixed position of the robotic arm 210, allowing the robotic arm 210 to move under the forces and torques applied by the operator, such that the output force is counteracted by the operator's forces and torques based on the movement of the robotic arm, and / or drives the movement of other parts of the robotic arm not directly contacted by the operator.

[0238] In some implementations, one or more processors can cause one or more other robotic arms to move automatically to avoid collisions with the robotic arms.

[0239] In some implementations, the manual manipulation mode includes an admittance mode (e.g., admittance control). In some implementations, in admittance mode, the robot system measures the force and / or torque applied to the robot arm by the operator and outputs a corresponding speed and / or position for driving the movement of the robot arm.

[0240] In some implementations, once the robotic arm transitions from position control mode to admittance mode, one or more processors can cease maintaining the robotic arm in a fixed position, move the robotic arm according to the forces and torques applied by the operator, and / or drive movement of other parts of the robotic arm not directly touched by the operator. In some implementations, once the robotic arm transitions from position control mode to admittance mode, one or more processors can cause automatic movement of one or more other arms to avoid collisions with the robotic arm.

[0241] Refer again Figure 28A In some embodiments, the sensor architecture further includes (808) one or more joint-based sensors positioned to detect a second force applied to a robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes). For example, according to some embodiments, the joint-based sensor may be located on the proximal end of the robotic arm (e.g., near the base of the robotic arm, such as A0 joint sensor 402). According to some embodiments, the joint-based sensor may also be located on a joint between two adjacent links (e.g., a sensor in A3 joint 304-4 between two adjacent links 302-2 and 302-3). In some embodiments, a first criterion (810) is satisfied by determining that a first force detected by a non-joint-based sensor and a second force detected by a joint-based sensor satisfy a preset requirement for the first and second forces. In some implementations, switching the robot arm from position control mode to manual operation mode based on determining that a first criterion is met includes (812): switching the robot arm from position control mode to manual operation mode based on determining that a first force and a second force meet a preset requirement combination for the first force and the second force.

[0242] In some implementation schemes, and as such Figure 28B As described above, method 800 further includes, during manual manipulation mode, generating (814) outputs based on physical manipulation of the robot arm by the operator to assist movement of the robot arm (e.g., robot arm 210, or another type of robot arm that can operate in position control mode and one or more manual manipulation modes). For example, in some embodiments, one or more processors of robot system 200 may generate outputs in the form of control signals to control the force (e.g., force with controlled amplitude and / or direction) and / or movement (e.g., movement with controlled distance, speed, and / or direction) of actuators, motors, and / or gears to assist the operator in physically manipulating the robot arm.

[0243] like Figure 28BAs further described, method 800 also includes monitoring (816) the movement of a robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes) during a manual manipulation mode. For example, the processor may continuously monitor or periodically check the movement of the robotic arm during the manual manipulation mode, including checking the movement of the joint and / or the robotic arm as a whole. In some embodiments, the processor relies on sensor data received from position and displacement sensors of a sensor architecture to monitor the movement of the robotic arm during the manual manipulation mode.

[0244] In some implementation schemes, and as such Figure 28B As described above, method 800 further includes: determining, according to (818), that the movement meets a second criterion, wherein the second criterion is met by determining that the movement of the robot arm during the manual manipulation mode is below a movement threshold level, and switching the robot arm (e.g., robot arm 210, or another type of robot arm that can operate in position control mode and one or more manual manipulation modes) from manual manipulation mode to position control mode.

[0245] In some implementations, the second criterion includes a standard for determining whether to switch back to position control mode based on motion data received from the sensor architecture. Optionally, in some implementations, the motion data is used in conjunction with other requirements for the state of the robotic arm and / or other safety and operational conditions to determine whether the second criterion is met.

[0246] In some implementations, one or more processors determine that the movement in the manual manipulation mode is below the threshold movement level when the movement is less than a threshold movement amount during a threshold time period, and / or when no movement is detected within the threshold time period.

[0247] In some implementations, switching the robotic arm from manual control mode to position control mode includes disabling manual control mode. For example, in some implementations, when the processor detects that the speed of the connector and / or robotic arm 210 is below a predefined threshold for a predefined time period, the robot controller exits impedance mode. This sets the robotic arm 210 back to position control mode to maintain its current position.

[0248] Continue to refer to Figure 28BIn some implementations, the robotic system (e.g., robotic system 200, or another robotic medical system or robotic surgical platform, etc.) also includes (820) an input interface. Method 800 includes detecting (822) activation of the input interface via a preset input. Method 800 also includes switching (824) a robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in a position control mode and one or more manual operation modes, etc.) from a position control mode to a manual operation mode based on the activation of the input interface via the preset input.

[0249] In some implementations, the input interface may include buttons, touch-sensitive displays, touchpads with displays, levers, or switches. Preset inputs may include press inputs, flicks, or taps on the input interface.

[0250] In some implementations, the input interface is activated in a relatively small location and is fixed relative to a part of the robotic system (e.g., fixed to the distal end of the robotic arm, fixed to a small area on the edge of the patient support platform, located on a hanging control attached to the head of the patient support platform, etc.), such that the input interface may not be within the operator's reach when the operator is located in a different area near the robotic system.

[0251] In some implementations, only a single type of input can be used to activate the input interface to switch to manual operation mode. This is quite different from how sensor-based activation of manual operation mode can work. For example, according to various implementations, sensors provide a feasible input area throughout the joints and links along the robot arm, thus not requiring the user to touch any specific fixed part of the robot arm. Furthermore, in some implementations, sensor data from joint-based and non-joint-based sensors are analyzed in combination to determine the operator's interaction with the robot arm 210 and are evaluated as a whole to determine whether the criteria for activating manual operation mode are met. In this way, the operator is not required to provide a single type of input with strict, non-compromising requirements, such as those for buttons, switches, or touchscreens.

[0252] In some implementations, the user can adaptively activate the manual control mode using different hand gestures, arm configurations, different body parts, and / or different combinations of force and torque based on their current position and comfort. For example, the operator can bend the two links of the robotic arm towards each other, twist the distal end of the robotic arm, push the robotic arm downwards against an adjustable arm support, push a link, pull a link, grasp one link and use their shoulder to push the other link or connector, etc., depending on the current spatial relationship between the robotic arm and the operator to activate the manual control mode. The processor will react to activate the manual control mode based on whether sensor data meets preset criteria, regardless of which of the above methods is used. Furthermore, when the patient leans against or accidentally touches any part of the robotic arm with sufficient force, the processor will activate the manual control mode and remove the robotic arm (e.g., instead of requiring the healthcare worker to press a button or remove the patient or robotic arm), to improve patient safety.

[0253] As previously described, according to some embodiments, method 800 may be performed by a robotic system including a robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes) and a sensor architecture. In some embodiments, the robotic system includes a sensor architecture (e.g., regarding Figure 24, ...). Figure 25 (and the sensor architecture shown in Figure 26). In some embodiments, the sensor architecture includes one or more types of sensors, such as force sensors, contact sensors, pressure sensors, torque sensors, displacement sensors (e.g., angular and / or translational displacement sensors), and / or position sensors. The sensors are positioned to detect and optionally measure contact, torque, force, and / or displacement experienced by the robot arm or a portion thereof. In some embodiments, the sensor architecture includes sensors integrated with the robot arm (e.g., attached to the robot arm, a portion of the robot arm, included within the robot arm, on the surface of the robot arm, attached to the robot arm, embedded under the surface of the robot arm, mounted between portions of the robot arm (e.g., between adjacent links, between adjacent joints, between surface caps and structural links, etc.), mounted at the end of the robot arm, on or within a link of the robot arm (e.g., link 302), and / or on or within a joint of the robot arm (e.g., joint 304). In some embodiments, the sensor architecture may include additional components for transmitting sensor data from the sensors to one or more processors. Sensor data may include sensor parameters such as force, contact, torque, displacement, movement, and / or position. Sensor parameters may also include values ​​such as the orientation of the sensed parameter, the magnitude of the sensed parameter, and the timing and / or duration of the sensed parameter.

[0254] In some embodiments, the sensor architecture includes one or more connector-based sensors (e.g., connector-based sensors located on or within a link between two adjacent joints in the robotic arm, as shown in Figures 23 and 24). According to some embodiments of this disclosure, the connector-based sensor may be positioned to detect a first force applied to the robotic arm.

[0255] In some implementations, one or more connector-based sensors may be located on or within a link of the robotic arm between two adjacent connectors. For example, referring to Figures 23 and 24, one or more connector-based sensors may be located within link 302-2 between connector A2 304-3 and connector A3 304-4, and / or within link 302-3 between connector A3 304-4 and connector A4 304-5, and / or within link 302-4 between connector A4 304-5 and connector A5 304-6.

[0256] In some implementations, a connector-based sensor can be located between two adjacent connectors, without a connecting rod between them. For example, in Figure 24A In this configuration, the six-axis load sensor 404 can be located directly between connectors A4 304-5 and A5 304-6 without the connecting rod 302-4 between the connectors.

[0257] In some implementations, the connector-based sensor may also be located between the connector and an adjacent end effector of the robot arm, such as between connector 304-6 and end effector 308 in Figure 23 (A5). The connector-based sensor may also be located on a part of the robot arm that is not a connector.

[0258] In some implementations, the connectorless sensor includes one or more force sensors, one or more torque sensors, and / or one or more force and torque sensors. In some implementations, the first force applied to the robotic arm is a force other than gravity. The first force may include forces generated by contact between the robotic arm and a person in the physical environment, such as... Figure 27 As shown in the example. For example, the first force may be applied to the surface of the robot arm, the link, the joint, and / or the end effector.

[0259] In some implementations, the sensor architecture also includes one or more jointless position and motion sensors that measure the position and movement (e.g., rotation and / or translation) of a robot arm or a portion thereof (e.g., a link, joint, end effector, etc.).

[0260] According to some implementations, the advantage of using sensor data from jointless sensors (e.g., sensors located on the links of the robotic arm) to trigger manual manipulation modes is that jointless sensors directly detect forces and / or torques on the links of the robotic arm. Therefore, forces and / or torques do not need to be applied to a joint and / or in a specific direction for detection. Thus, jointless sensors significantly expand the available opportunities and methods for operators to activate manual manipulation modes through direct interaction with the robotic arm.

[0261] In some implementations, the one or more connector-based sensors include combined force and torque sensors. For example, the combined force and torque sensors may include a six-axis load cell (e.g., six-axis load cell 404). Figure 24A ) and / or housing sensor array (e.g., contact sensor 408).

[0262] In some implementations, the combined force and torque sensors include a six-axis load sensor that has the ability to measure forces and torques in all six directions (e.g., forces in the X, Y, and Z directions, and torques or torques in the X, Y, and Z directions (e.g., rotational forces about the X, Y, and Z axes)).

[0263] In some embodiments, the combined force and torque sensors are capable of measuring forces in subsets of the X, Y, and Z directions, and measuring torques or torques in the same subsets of the X, Y, and Z directions. In some embodiments, the combined force and torque sensors are capable of measuring forces in one subset of the X, Y, and Z directions, and measuring torques or torques in different subsets of the X, Y, and Z directions. In some embodiments, the combined force and torque sensors are capable of measuring forces in all X, Y, and Z directions, and measuring torques in subsets of the X, Y, and Z directions. In some embodiments, the combined force and torque sensors are capable of measuring forces in subsets of the X, Y, and Z directions, and measuring torques in all X, Y, and Z directions.

[0264] In some embodiments, the one or more non-joint sensors include at least one sensor located between a pair of joints of the robotic arm. In some embodiments, the first sensor is located on a link between the joints (e.g., link 302-2 between joints 304-3 and 304-4), or directly between two adjacent joints in the absence of a link. In some embodiments, the one or more non-joint sensors include at least one first sensor located in the distal portion of the robotic arm.

[0265] For example, one or more non-joint sensors include sensor 404 (e.g., a six-axis load cell) located in the distal portion of the robot arm 210 between joints A4-5 and A5-6. In some embodiments, the distal portion of the robot arm 210 includes a joint (e.g., joint A6 304-5) and an end effector (e.g., ADM 308).

[0266] In some implementations, the robotic system (e.g., robotic system 200 or another robotic medical system or robotic surgical platform, etc.) also includes a tool actuator mounted on a first sensor, such that the first sensor detects the force applied by the tool actuator.

[0267] In some implementations, the tool driver includes an advanced device manipulator (ADM) 308, such as Figure 23A As shown. The force applied by the tool actuator can include the force caused by the tool inserted into the patient's body. The force can also include the force applied by the operator to the tool actuator itself. In some embodiments, the first sensor is a combined force and torque sensor mounted between two adjacent joints located at the distal end portion of the robotic arm, and the first sensor (e.g., a six-axis load cell 404 or other type of combined force and torque sensor) allows the interaction force between the tool actuator and the distal end of the robotic arm to be detected and measured.

[0268] like Figure 23A As shown, the robotic arm 210 includes a cannulation sensor 310 for detecting the presence of a cannula, which determines the docking state of the robotic arm 210. The robotic arm 210 is only permitted to transition (e.g., via a processor) to a manual operation mode when it is in an undocked state. When the robotic arm 210 is in a docked state, the force applied by the tool actuator will not cause the processor to transition to a manual operation mode, even if the force exceeds a preset threshold for transitioning to a manual operation mode when the robotic arm is undocked.

[0269] In some cases, one or more connector-based sensors include a six-axis load cell (e.g., six-axis load cell 404).

[0270] In some embodiments, one or more jointless sensors include one or more contact sensors (e.g., contact sensor 408) located on one or more links of the robotic arm. The contact sensor includes a sensor that detects and measures contact with another object or surface. In some embodiments, the contact sensor detects and measures contact based on determining that the contact force between the sensor and the object / surface exceeds a contact detection force threshold, or based on determining that the distance between the sensor and the other object or surface is less than a contact detection threshold distance, or based on determining that the contact area between the sensor and the other object or surface is greater than a threshold contact area.

[0271] In some implementations, the contact sensor is located on the robotic arm at a known location (e.g., an area) that frequently comes into contact with the patient during surgery (e.g., such as...). Figure 24C As shown in section 410, such as Figure 24D (as shown in area 412, etc.). In some cases, during surgical procedures, force may originate from the patient. In such cases, if a contact sensor (or any other sensor described in this application) measures a force exceeding a predetermined threshold, the robotic arm 210 can switch to a manual manipulation mode, thereby allowing the robotic arm to move away from the contact source. This advantageously enhances patient safety.

[0272] In some embodiments, contact sensors detect how an operator grips the robotic arm 210. For example, a manual manipulation mode may be triggered in response to the detection that the operator is gripping the robotic arm in a certain way (e.g., gripping two links simultaneously, gripping links with both hands, gripping one link with both hands while twisting the link about its longitudinal axis, gripping one or both links while pulling the link in its longitudinal direction, grasping and pulling the first distal link, grasping and pushing the first proximal link, grasping and pushing the proximal link against the base joint, etc.). In some embodiments, the various ways in which the operator grips the arm and applies force to the robotic arm (which is a natural precursor to the desired movement of the robotic arm) may optionally be categorized and abstracted into different criteria (e.g., thresholds and conditions) that cause the processor to switch to a manipulation mode when these criteria are met.

[0273] In some implementations, the contact sensor is able to detect the forces and torques applied to the robotic arm 210.

[0274] In some implementations, the contact sensor can sense forces and torques in multiple directions. In some implementations, the contact sensor includes an array of multiple contact force sensors attached to the outer surface of a link in the robot arm, such as... Figure 25As shown. In some embodiments, the contact sensor has a suspended "housing" surrounding the outside of the robot arm link on which the contact force sensor is mounted, and the housing engages with the contact force sensor to allow the detection and measurement of forces applied to the surface of the robot arm link. This is in Figure 25 As shown in the figure. In some embodiments, the robot arm 210 includes contact sensors on a plurality of links of the robot arm. For example, the robot arm 210 includes contact sensors 408 on links 302-2 and 302-3 of the robot arm 210.

[0275] In some embodiments, contact sensors on the corresponding links of the robotic arm are distributed across an extended area on the link surface. In some embodiments, when an operator grasps a corresponding link with one or both hands, contact sensors located in multiple portions (e.g., multiple non-intersecting portions) of the extended area can be activated, and the orientation and / or sensor data of the activated portions can optionally be used to determine how the operator grips the link and / or attempts to move the link. In some embodiments, when an operator simultaneously grasps or pushes multiple links (e.g., with hands, arms, torso, legs, etc.), contact sensors located in multiple links can be activated, and the orientation and / or sensor data of the activated areas on the links can optionally be used to determine how the operator grips the link and / or attempts to move the link. In some embodiments, force and / or torque data obtained by the contact sensors on the links are used by one or more processors to determine whether to transition from a position control mode to a manual manipulation mode without requiring sensor data from joint-based sensors.

[0276] In some embodiments, force and / or torque data obtained by contact sensors on the linkage are used by one or more processors in conjunction with sensor data from joint-based sensors to determine whether to transition from position control mode to manual operation mode. In some embodiments, the contact sensors provide additional means for activating manual operation mode when the operator is not in a position where a dedicated control interface (e.g., a button or circular button located at the distal end of the robot arm) located in a fixed position relative to the robot system can be easily accessed for activating manual operation mode.

[0277] In some implementations, sensor data from the contact sensor may optionally be used to provide information for controlling other types of automated movement of the robotic arm (e.g., avoiding collisions, mitigating impacts, marking high-probability collision zones in the physical environment, etc.).

[0278] In some implementations, the sensor architecture includes one or more connector-based sensors. For example, a connector-based sensor may be located on the proximal end of the robot arm (e.g., near the base of the robot arm, such as connector A0 sensor 402). A connector-based sensor may also be located on a connector between two adjacent links (e.g., a sensor in connector A3 304-4 between two adjacent links 302-2 and 302-3).

[0279] In some embodiments, the joint-based sensor is a force sensor. In some embodiments, the joint-based sensor is a combined force and torque sensor. In some embodiments, force and / or torque data obtained by one or more joint-based sensors are used by one or more processors to determine whether to switch from a position control mode to a manual operation mode without requiring sensor data from a non-joint-based sensor. For example, a first criterion can be met as long as the second force exceeds a second threshold force, without requiring the first force to exceed the first threshold force. In some embodiments, force and / or torque data obtained by the joint-based sensor are used by one or more processors in combination with sensor data from a non-joint-based sensor to determine whether to switch from a position control mode to a manual operation mode (e.g., a first criterion can be met as long as the first force and the second force together meet a preset requirement combination for a certain combination of the first force and the second force, without requiring the first force to exceed the first threshold force).

[0280] In some embodiments, joint-based and / or joint-based sensors sense forces that may originate from an operator intending to move the robotic arm 210 during setup (e.g., in a pick-and-go mode). In this case, the operator may simply apply forces or torques to various parts of the robotic arm or grip the arm in one or more suitable ways, rather than touching an input button. If any of the aforementioned sensors, or any combination thereof, measures a force or combination of forces that meets a first criterion when the robotic arm is not docked, the processor sets the robotic arm 210 into a manual manipulation mode, thereby allowing manual manipulation of the robotic arm 210. In some embodiments, during manual manipulation mode, one or more joints of the robotic arm 210 are manually moved relative to the physical environment (e.g., translation, rotation, etc.) (e.g., changing configuration) and / or the entire robotic arm 210 is manually moved in the physical environment. For example, the entire robotic arm 210 may be manually translated or rotated, with or without changing its configuration.

[0281] In some implementations, the robot system 200 also includes one or more additional robot arms. The robot system 200 also includes an input interface that remotely activates impedance control of the first robot arm and / or the additional robot arms.

[0282] Figure 29 This is a flowchart of a method 900 for manually manipulating a robotic arm according to some embodiments. In some embodiments, method 900 is performed by a robotic system (e.g., such as...). Figure 21 and Figure 22 One or more processors of the illustrated robotic system 200 (or another robotic system or robotic surgical platform, etc.) execute instructions stored in the memory of the robotic system. In some embodiments, the robotic system may be a robotic medical system or a robotic surgical platform for performing medical procedures on a patient.

[0283] The robot system includes a robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes). In some embodiments, the robotic arm may be the first robotic arm of two or more robotic arms in the robot system (e.g., the first robotic arm 210-1 in robotic arms 210-1, 210-2, 210-3, etc., such as...). Figure 22 (As shown). In some implementations, the robotic arm may be a single robotic arm within a robotic system.

[0284] Robotic systems include sensor architectures (e.g., as shown in Figure 24, ...). Figure 25 (And the sensor architecture described in Figure 26). The sensor architecture includes one or more sensors (e.g., A0 connector sensor 402, six-axis load sensor 404 and / or contact sensor 408, etc.) that are positioned to detect forces and / or torques applied to the robot arm 210.

[0285] refer to Figure 29 In some implementations, method 900 includes determining (902) whether sensor data received from the sensor architecture meets a first criterion.

[0286] In some implementation schemes, reference Figure 29 The first criterion (904) is satisfied based on determining that the force detected by one or more sensors exceeds a first threshold force or the torque detected by one or more sensors exceeds a first threshold torque.

[0287] In some implementations, method 900 further includes: based on (906) determining that a first criterion is met (e.g., the detected force or torque exceeds a corresponding threshold), switching the robot arm from a position control mode to a manual manipulation mode.

[0288] In some implementations, the first criterion includes a standard for determining whether to switch to manual manipulation mode based on various types of sensor data received from the sensor architecture. Optionally, in some implementations, the sensor data may be used in conjunction with other requirements for the state of the robotic arm and / or other safety and operational conditions, which are collectively used to determine the first criterion.

[0289] In some implementations, the first threshold force is a preset value (e.g., 30 Newtons, 50 Newtons, 65 Newtons, etc.) selected from a range of values ​​(e.g., 30 Newtons to 70 Newtons). In some implementations, the first threshold force is an operator-configured and / or operator-configurable force threshold.

[0290] In some implementations, the first threshold torque is a preset value (e.g., 0.3 Nm, 0.5 Nm, 0.6 Nm, etc.) selected from a range of values ​​(e.g., 0.3 Nm–0.7 Nm). In some implementations, the first threshold torque is an operator-configurable and / or operator-configurable torque threshold.

[0291] In some implementations, when setting a threshold for torque measurement while also measuring force, the setting of the threshold torque includes the identification and use of a reference point (e.g., a pivot point), because the force can contribute differently to the total torque value depending on the location of the reference point. For example, in some implementations, when the reference point is set at the location where the force is applied, the contribution to the torque is zero. However, if the reference point is selected at a distance, the torque contribution is non-zero. In some implementations, the farther the reference point is from the point where the force is applied, the greater its contribution to the torque. For example, in some implementations, if a remote center point (e.g., a point along the cannula) is selected as the reference point, the threshold shift can be 4 Nm, 6 Nm, or 8 Nm.

[0292] In some implementations, the first criterion includes the requirement that the robotic arm (e.g., robotic arm 210, or another type of robotic arm capable of operating in position control mode and one or more manual operation modes) is in an undocking configuration to meet the first criterion. In some implementations, the robotic arm (e.g., robotic arm 210, or another type of robotic arm capable of operating in position control mode and one or more manual operation modes) is determined to be in an undocking configuration. In some implementations, the robotic arm is determined to be in an undocking configuration when the distal end of the robotic arm is not secured to the cannula.

[0293] In some implementations, during the pre-operative setup phase, the operator can activate an impedance mode or admittance mode to position or configure an un-docked robotic arm as desired, or to move the un-docked robotic arm away to make room for other robotic arms or people (e.g., patients, medical personnel, etc.) near the robotic system. In some implementations, during surgery, one or more arms of the robotic system can dock, and the operator can move the un-docked arm away to make room for medical personnel. In some implementations, when the configuration of the patient support platform changes during surgery, the operator can adjust the position of the un-docked arm to accommodate the changed configuration of the robotic system. In some implementations, the un-docked robotic arm may accidentally encounter the patient during surgery (e.g., make contact with the patient) and exert force on the patient, and moving the un-docked robotic arm away from the patient is safer. In any of the above situations, switching to manual manipulation mode based on sensor data received from the sensor architecture, rather than activating dedicated controls or interfaces located at a fixed position relative to the robotic system, makes the above tasks easier for the operator to perform and safer for the patient.

[0294] In some implementations, in position control mode, the position of the robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes) is fixed relative to a pre-selected part of the robotic system (e.g., adjustable arm support 220, patient support platform 202, base 206, etc.).

[0295] In some embodiments, the manual control mode may include a non-power-assisted manual control mode or a power-assisted manual control mode, such as an impedance mode or an admittance mode. According to some embodiments, the manual control mode may also include a mode in which the robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in a position control mode and one or more manual control modes) can be moved and / or reconfigured by manually pushing, pulling and / or twisting one or more portions of the robotic arm.

[0296] In some implementations, the manual operation mode includes an impedance mode.

[0297] In some implementations, based on the determination that a first criterion is not met (e.g., determining that neither the detected force nor the detected torque exceeds their respective thresholds), method 900 includes abandoning the transition of the robot arm from a position control mode to a manual manipulation mode and keeping the robot arm (e.g., robot arm 210, or another type of robot arm that can operate in both a position control mode and one or more manual manipulation modes) in the position control mode.

[0298] refer to Figure 29 In some implementations, method 900 includes: during manual manipulation mode, generating (908) an output based on physical manipulation of the robot arm by an operator to assist the movement of the robot arm (e.g., robot arm 210, or another type of robot arm that can operate in position control mode and one or more manual manipulation modes).

[0299] For example, in some implementations, one or more processors of the robot system can generate outputs in the form of control signals to control the outputs of force (e.g., force with controlled amplitude and / or direction) and / or movement (e.g., movement with controlled distance, speed and / or direction) of actuators, motors and / or gears to assist an operator in physically manipulating the robot arm.

[0300] In some implementations, method 900 further includes monitoring (910) movement of robot arm 210 during manual manipulation mode. Based on determining that the movement meets a second criterion, wherein the second criterion is met based on determining that the movement of the robot arm during manual manipulation mode is below a movement threshold level, method 900 includes switching the robot arm (e.g., robot arm 210, or another type of robot arm that can operate in position control mode and one or more manual manipulation modes, etc.) from manual manipulation mode to position control mode (912).

[0301] Referring to step 910, in some embodiments, the processor of the robot system may continuously monitor or periodically check the movement of the robot arm (e.g., robot arm 210, or another type of robot arm that may operate in position control mode and one or more manual control modes) during manual control mode, including, for example, checking the movement of joint 304 and / or robot arm 210 as a whole. In some embodiments, the processor relies on sensor data received from position and displacement sensors of the sensor architecture to monitor the movement of the robot arm during manual control mode.

[0302] In some implementations, the second criterion includes a standard for determining whether to switch back to position control mode based on motion data received from the sensor architecture. Optionally, in some implementations, the motion data is used in conjunction with other requirements for the state of the robotic arm (e.g., robotic arm 210) and / or other safety and operational conditions to determine whether the second criterion is met.

[0303] In some implementations, the second criterion is met when the movement is less than the threshold movement amount during the threshold time period, or when no movement is detected within the threshold time period.

[0304] In some implementations, switching a robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes) from manual manipulation mode to position control mode includes disabling manual manipulation mode. For example, when the processor detects that the speed of the connector (e.g., connector 304) and / or the robotic arm is below a predefined threshold for a predefined time period, the robot controller exits impedance mode. According to some implementations, this sets the robotic arm back to position control mode to maintain its current position.

[0305] Similarly, Figure 29 As described herein, in some embodiments, the robot system includes (914) an input interface. Method 900 includes detecting (916) activation of the input interface via a preset input. Method 900 includes, based on the activation of the input interface, switching (918) a robot arm (e.g., robot arm 210, or another type of robot arm that can operate in a position control mode and one or more manual operation modes) from a position control mode to a manual operation mode.

[0306] In some implementations, the input interface may include buttons, touch-sensitive displays, touchpads with displays, levers, or switches. Preset inputs may include press inputs, flicks, or taps on the input interface.

[0307] As previously described, according to some implementations, method 900 may be performed by a robotic system including a robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes) and a sensor architecture.

[0308] In some implementations, the robotic system includes a sensor architecture. (For example, in Figure 24, Figure 25(and the sensor architecture described in Figure 26). In some embodiments, the sensor architecture includes one or more types of sensors, such as force sensors, contact sensors, pressure sensors, torque sensors, displacement sensors (e.g., angular and / or translational displacement sensors), and / or position sensors. The sensors are positioned to detect and optionally measure contact, torque, force, and / or displacement experienced by the robot arm or a portion thereof. In some embodiments, the sensor architecture includes sensors integrated with the robot arm (e.g., attached to the robot arm, a portion of the robot arm, included within the robot arm, on the surface of the robot arm, attached to the robot arm, embedded under the surface of the robot arm, mounted between portions of the robot arm (e.g., between adjacent links, between adjacent joints, etc.), mounted at the end of the robot arm, on or within a link of the robot arm (e.g., link 302), and / or on or within a joint of the robot arm (e.g., joint 304). In some embodiments, the sensor architecture may include additional components for transmitting sensor data from the sensors to one or more processors. Sensor data may include sensor parameters such as force, contact, torque, displacement, movement, and / or position. Sensor parameters may also include values ​​such as the orientation of the sensed parameter, the magnitude of the sensed parameter, the timing of the sensed parameter, and / or the duration of the sensed parameter.

[0309] In some embodiments, the sensor architecture includes one or more sensors (e.g., A0 connector sensor 402, six-axis load sensor 404, and / or contact sensor 408, etc.) positioned to detect forces and / or torques applied to the robotic arm 210. In some embodiments, one or more sensors detect forces and / or torques applied to the robotic arm 210 from multiple directions. The detected forces and / or torques include forces and / or torques other than those caused by gravity. In some embodiments, the forces and / or movements exerted by the robotic arm 210 are forces and / or torques caused by contact between a person and the robotic arm 210, such as forces and / or torques on the surface of the robotic arm 210, on links (e.g., link 302), on connectors (e.g., connector 304), on end effectors (e.g., ADM 308), etc.

[0310] In some implementations, one or more sensors include a six-axis load cell.

[0311] In some implementations, one or more sensors include multiple contact sensors (e.g., contact sensor 408, Figure 24B ).

[0312] In some embodiments, the contact sensor includes a sensor for detecting and measuring contact with another object or surface. In some embodiments, the contact sensor detects and measures contact based on determining that the contact force between the sensor and the object / surface exceeds a contact detection force threshold, or based on determining that the distance between the sensor and the other object or surface is less than a contact detection threshold distance, and / or based on determining that the contact area between the sensor and the other object or surface is greater than a threshold contact area.

[0313] In some implementations, the contact sensor is located on the robotic arm at a known location (e.g., an area) that frequently comes into contact with the patient during surgery (e.g., such as...). Figure 24C As shown in section 410, such as Figure 24D (as shown in area 412, etc.). In some cases, during surgical procedures, force may originate from the patient. In such cases, according to some embodiments, if a contact sensor (or any other sensor described in this application) measures a force exceeding a predetermined threshold, the robotic arm 210 can switch to a manual operation mode, thereby allowing the robotic arm to be rapidly moved away from the contact source. This advantageously enhances the safety of the patient and / or operator.

[0314] In some implementations, the contact sensor detects how the operator is holding the robotic arm 210. For example, the manual operation mode may be triggered in response to the detection that the operator is holding the robotic arm in a certain way (e.g., holding two links simultaneously, holding links with both hands, holding one link with both hands while twisting the link about its longitudinal axis, holding one or both links while pulling the link in its longitudinal direction, grasping and pulling the first distal link, grasping and pushing the first proximal link, grasping and pushing the proximal link against the base joint, etc.).

[0315] In some implementations, the various ways in which an operator grips the arm and applies force to the robotic arm (which is a natural precursor to the desired movement of the robotic arm) can optionally be categorized and abstracted into different criteria (e.g., thresholds and conditions) that cause the processor to switch to a manipulation mode when the criteria are met.

[0316] In some implementations, the robotic arm (e.g., robotic arm 210, or another type of robotic arm that can operate in position control mode and one or more manual manipulation modes, etc.) includes an outer surface. For example, multiple contact sensors (e.g., contact sensor 408) may be connected to a housing (e.g., housing 502) covering the outer surface of the robotic arm. Figure 25 ) join.

[0317] In some implementations, the detected force and torque are a combination of the corresponding force and / or corresponding torque detected by a corresponding contact sensor among a plurality of contact sensors.

[0318] In some embodiments, the one or more sensors include at least a connector-based sensor positioned away from the joints of the robot arm. For example, a connector-based sensor (e.g., a contact sensor or housing sensor 408) may be positioned on a link (e.g., link 302) or between two adjacent joints (e.g., a six-axis load sensor 404 positioned between joints A4 304-5 and joints A5 304-6).

[0319] In some implementations, one or more sensors include at least a joint-based sensor positioned on a joint of the robot arm 210 (e.g., A0 joint sensor 402 and / or sensors located on other joints 304 of the robot arm 210).

[0320] 3. Implementation System and Terminology .

[0321] The embodiments disclosed herein provide systems, methods, and apparatus for activating manual manipulation modes on a robotic arm of a robotic medical system using linkage interaction sensing.

[0322] It should be noted that, as used herein, the terms “couple,” “coupling,” “coupled,” or other variations of the word “couple” can indicate an indirect or direct connection. For example, if a first component is “coupled” to a second component, the first component may be indirectly connected to the second component or directly connected to the second component via another component.

[0323] The functions described herein for switching to manual operation mode can be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" means any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM) or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. It should be noted that computer-readable media can be tangible and non-transitory. As used herein, the term "code" can mean software, instructions, code, or data that can be executed by a computing device or processor.

[0324] The methods disclosed herein include one or more steps or actions for implementing the methods. The method steps and / or actions may be interchanged without departing from the scope of the claims. In other words, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims unless proper operation of the described method requires a specific order of steps or actions.

[0325] As used herein, the term "multiple" means two or more. For example, multiple components indicates two or more components. The term "determine" encompasses a variety of actions, and therefore, "determine" can include calculation, operation, processing, derivation, investigation, lookup (e.g., searching in a table, database, or another data structure), ascertainment, etc. Additionally, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. Furthermore, "determine" can include parsing, selecting, picking, building, etc.

[0326] Unless otherwise explicitly stated, the phrase “based on” does not mean “based on only”. In other words, the phrase “based on” describes both “based on only” and “based on at least”.

[0327] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the invention. For example, it should be understood that those skilled in the art will be able to employ numerous corresponding alternatives and equivalent structural details, such as equivalent means of fastening, mounting, connecting, or engaging tool components, equivalent mechanisms for generating specific actuating movements, and equivalent mechanisms for delivering electrical energy. Therefore, the invention is not intended to be limited to the embodiments shown herein, but is endowed with the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic system comprising: a robotic arm; a sensor architecture comprising one or more non-joint based sensors positioned to detect a first force exerted on the robotic arm; one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the processors to: determine whether sensor data received from the sensor architecture satisfies a first criterion, wherein the first criterion is satisfied in accordance with a determination that the first force exceeds a first threshold force and a determination that the robotic arm is in an undocked configuration in which the robotic arm is not coupled with a cannula; and in accordance with a determination that the first criterion is satisfied, including a determination that the first force exceeds the first threshold force and a determination that the robotic arm is in the undocked configuration, transition the robotic arm from a position control mode to a manual manipulation mode.

2. The robotic system of claim 1, wherein the manual manipulation mode comprises an impedance mode.

3. The robotic system of claim 1 or 2, wherein the one or more non-joint based sensors comprise a combined force and torque sensor.

4. The robotic system of any of claims 1-3, wherein the one or more non-joint sensors comprise at least one sensor positioned between a pair of joints of the robotic arm.

5. The robotic system of any of claims 1-4, wherein the one or more non-joint sensors comprise at least a first sensor positioned in a distal portion of the robotic arm.

6. The robotic system of claim 5, further comprising a tool driver mounted on the first sensor such that the first sensor detects a force exerted by the tool driver.

7. The robotic system of claim 5 or 6, wherein the first sensor is a six-axis load cell.

8. The robotic system of any of claims 1-7, wherein the one or more non-joint based sensors comprise one or more contact sensors positioned on one or more links of the robotic arm.

9. The robotic system of claim 8, wherein the one or more contact sensors are capable of detecting a force and a torque exerted on the robotic arm.

10. The robotic system of any of claims 1-9, wherein the sensor architecture further comprises one or more joint based sensors positioned to detect a second force exerted on the robotic arm.

11. The robotic system of claim 10, wherein: the first criterion is satisfied in accordance with a determination that the first force detected by the non-joint based sensors and the second force detected by the joint based sensors satisfy a predetermined requirement combination of the first force and the second force, and the memory further comprises instructions that, when executed by the one or more processors, cause the processors to: ​ According to a determination that the first criteria is satisfied, including a determination that the first force and the second force satisfy a pre-set combination of requirements for the first force and the second force, transitioning the robotic arm from the position control mode to the manual manipulation mode.

12. The robotic system of any of claims 1-11, wherein the memory further stores instructions that, when executed by the one or more processors, cause the processors to: During the manual manipulation mode, generate an output to assist movement of the robotic arm according to physical manipulation of the robotic arm by an operator.

13. The robotic system of any of claims 1-12, wherein the memory further stores instructions that, when executed by the one or more processors, cause the processors to: monitor movement of the robotic arm during the manual manipulation mode; and According to a determination that the movement satisfies a second criteria, wherein the second criteria is satisfied according to a determination that the movement of the robotic arm during the manual manipulation mode is below a movement threshold level, transition the robotic arm from the manual manipulation mode to the position control mode.

14. The robotic system of any of claims 1-13, further comprising an input interface that, when activated by a pre-set input, causes the one or more processors to transition the robotic arm from the position control mode to the manual manipulation mode.

15. The robotic system of any of claims 1-14, further comprising: one or more additional robotic arms; and an input interface that remotely activates impedance control of the robotic arm and / or the additional robotic arms.

16. A robotic system, comprising: a robotic arm; a sensor architecture, the sensor architecture comprising: one or more sensors positioned to detect forces and / or torques exerted on the robotic arm; one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the processors to: determine whether sensor data received from the sensor architecture satisfies a first criteria, wherein the first criteria is satisfied according to a determination that a force detected by the one or more sensors exceeds a first threshold force or according to a determination that a torque detected by the one or more sensors exceeds a first threshold torque, wherein the first criteria includes a requirement that the robotic arm is in an undocked configuration in order for the first criteria to be satisfied, in which the robotic arm is not coupled with a cannula; and According to a determination that the first criteria is satisfied, transition the robotic arm from a position control mode to a manual manipulation mode.

17. The robotic system of claim 16, wherein the one or more sensors comprise a six-axis load cell.

18. The robotic system of claim 16 or 17, wherein the one or more sensors comprise a plurality of contact sensors.

19. The robotic system of claim 18, wherein the robotic arm comprises an outer surface; and the plurality of contact sensors are positioned to detect contact with the outer surface. The plurality of contact sensors are engaged with a housing that covers the outer surface of the robotic arm.

20. The robotic system of claim 18 or 19, wherein the detected force and moment are a combination of respective forces and / or respective moments detected by respective ones of the plurality of contact sensors.

21. The robotic system of any of claims 16 to 20, wherein the one or more sensors include at least non-joint-based sensors positioned away from a joint of the robotic arm.

22. The robotic system of any of claims 16 to 21, wherein the one or more sensors include at least joint-based sensors positioned on a joint of the robotic arm.

23. The robotic system of any of claims 16 to 22, wherein the manual manipulation mode comprises an impedance mode.

24. The robotic system of any of claims 16 to 23, wherein the memory further stores instructions which, when executed by the one or more processors, cause the processors to: generate an output to assist movement of the robotic arm in accordance with physical manipulation of the robotic arm by an operator during the manual manipulation mode.

25. The robotic system of any of claims 16 to 24, wherein the memory further stores instructions which, when executed by the one or more processors, cause the processors to: monitor movement of the robotic arm during the manual manipulation mode; and transition the robotic arm from the manual manipulation mode to the position control mode in accordance with a determination that the movement satisfies a second criterion, wherein the second criterion is satisfied in accordance with a determination that the movement of the robotic arm during the manual manipulation mode is below a movement threshold level.

26. The robotic system of any of claims 16 to 25, further comprising an input interface that, when activated by a preset input, causes the one or more processors to transition the robotic arm from the position control mode to the manual manipulation mode.

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