System and method for controlling motion of a kinematic chain

Abstract

A robotic system is provided that is capable of commanding a bar to translate. The robotic system can include a robotically controlled first kinematic chain, a robotically controlled second kinematic chain movably coupled to the first kinematic chain, and a controller communicably coupled to the first kinematic chain and the second kinematic chain. The robotic system can be depicted as obtaining data corresponding to the first kinematic chain and controlling movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain.

Description

TECHNICAL FIELD

[0001] The systems and methods disclosed herein relate to robotic medical systems, and more particularly to robotic control arms and arm supports of robotic medical systems. BACKGROUND

[0002] Robotic-enabled medical systems are capable of performing a variety of medical procedures, including both minimally invasive procedures (such as laparoscopy) and non-invasive procedures (such as endoscopy). In endoscopy procedures, the system can be capable of performing bronchoscopy, ureteroscopy, gastroscopy, etc.

[0003] Such robotic medical systems can include robotic arms configured to control movement of a medical tool during a given medical procedure. To achieve a desired pose of the medical tool, the robotic arms can be placed into an appropriate pose during a setup process. Some robotic-enabled medical systems can include arm supports (e.g., bars) that are connected to respective bases of the robotic arms and support the robotic arms. SUMMARY

[0004] Before a procedure begins, an operator (e.g., a physician assistant, medical staff, etc.) can be required to set up the robotic arms and adjustable arm supports of a robotic medical system into a desired overall configuration. In some cases, the operator can manually manipulate one or more robotic arms into their respective configurations during setup (e.g., using a kinematic mode control, an impedance mode control, or a combination thereof, etc.), but the operator must separately adjust the arm supports when the robotic arms are not in manual manipulation mode. At times, the operator needs to use an external controller to move the adjustable arm supports while the robotic arms remain stationary over the adjustable arm supports. This limitation on when and how the adjustable arm supports can be moved makes the setup process very cumbersome and time-consuming, as the operator can have to switch back and forth between adjusting the arm supports and manipulating the robotic arms multiple times in order to ultimately achieve the desired overall configuration of the robotic medical system. This process is further complicated when a special bed configuration in combination with the configurations of the robotic arms and adjustable arm supports is required. Furthermore, the complexity of separately adjusting multiple kinematic chains (e.g., multiple robotic arms, one or more adjustable arm supports, and a patient bed, etc.) in multiple stages places significant demands on the operator’s level of experience and expertise to ensure the efficiency of the setup process. In some cases, the limitation that the adjustable arm supports must be controlled by a remote controller that is remote from the patient bed places a significant physical burden on the operator to move back and forth between the bedside controller of the robotic arms and the remote control of the adjustable arm supports during setup, and increases the risk of colliding with the robotic medical system or tripping over other objects in the operating room (e.g., cables, monitors, etc.) during setup. With the significant cognitive and operational burden placed on the operator during setup, the risk of operator error also increases, which can compromise the confidence of the medical staff in using the robotic system and the safety of the patient. Therefore, there is a need for a robotic medical system that better coordinates the movement and manipulation of multiple kinematic chains during setup to more easily and conveniently achieve a desired overall configuration. There is also a need for a robotic medical system that can be easily and conveniently configured through bedside control and reduces the need for manipulation of the robotic medical system away from the bedside of the operating room.

[0005] As disclosed herein, enabling automatic movement of the adjustable arm support when the robotic arm is in a manual manipulation mode (e.g., in an impedance mode or admittance mode, etc.) makes it easier and more efficient to configure the robotic medical system. In particular, initiating and stopping automatic translation of the adjustable arm support based on movement data (e.g., position, velocity, etc.) corresponding to the robotic arm during manual manipulation when manipulating the robotic arm in a manual manipulation mode can make it easier and faster to make final adjustments to the setup of the system. Additionally, enabling automatic movement of the adjustable arm support by manipulating the robotic arm at the bedside of the robotic medical system reduces the need for the operator to move back and forth in the operating room during setup of the robotic medical system, thereby improving setup efficiency and reducing the risk of collisions and tripping in the operating room. As disclosed herein, to further improve setup efficiency and reduce operator error, automatic movement of other robotic arms on the adjustable arm support can also be enabled to avoid collisions and / or to maintain the position of the remote center of motion of the docked robotic arm.

[0006] The systems, methods, and devices of the disclosure each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein.

[0007] According to some embodiments of the disclosure, a robotic system includes a robotically controlled first kinematic chain, a robotically controlled second kinematic chain movably coupled to the first kinematic chain, and a controller. The controller is communicably coupled to the first kinematic chain and the second kinematic chain. The controller 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 obtain data corresponding to the first kinematic chain and control movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain.

[0008] In some embodiments, obtaining the data corresponding to the first kinematic chain includes obtaining the data while the first kinematic chain is in a manual manipulation mode.

[0009] In some embodiments, controlling the movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain includes automatically moving the second kinematic chain in accordance with a determination that the data corresponding to the first kinematic chain satisfies a preset criterion.

[0010] In some embodiments, controlling the movement of the second kinematic chain includes controlling translational movement of the second kinematic chain relative to a base of the robotic system.

[0011] In some embodiments, the first kinematic chain includes a first robotic arm. The second kinematic chain includes a bar that supports the first robotic arm.

[0012] In some cases, the first robotic arm includes a base joint coupled to the bar and translatable along the bar.

[0013] In some cases, the translation of the first robotic arm along the bar is constrained by a first limit along the bar.

[0014] In some cases, the first limit includes a haptic wall that limits a degree of manual translation of the first robotic arm along the bar.

[0015] In some cases, the automatic movement of the bar is triggered according to the first robotic arm exceeding a cutoff limit.

[0016] In some cases, the data corresponding to the first kinematic chain includes a distance traveled by the first robotic arm along the bar.

[0017] In some cases, the data corresponding to the first kinematic chain includes a direction of movement of the first robotic arm along the bar. Controlling movement of the second kinematic chain includes moving the bar relative to a base of the robotic system in the direction of movement of the first robotic arm.

[0018] In some embodiments, the robotic system further includes a robotically controlled third kinematic chain movably coupled to the second kinematic chain. The memory further stores instructions that, when executed by the one or more processors, cause the processors to control movement of the third kinematic chain according to movement of the second kinematic chain.

[0019] In some embodiments, the first kinematic chain includes a first robotic arm. The third kinematic chain includes a second robotic arm. The second kinematic chain includes a bar that supports the first robotic arm and the second robotic arm.

[0020] In some embodiments, controlling movement of the third kinematic chain according to movement of the second kinematic chain includes, according to a determination that a first movement criterion is satisfied, maintaining a spatial relationship between at least a portion of the third kinematic chain and the second kinematic chain during movement of the second kinematic chain.

[0021] In some embodiments, controlling movement of the third kinematic chain according to movement of the second kinematic chain includes, according to a determination that a second movement criterion is satisfied, moving at least a portion of the third kinematic chain relative to the second kinematic chain during movement of the second kinematic chain.

[0022] In some embodiments, controlling movement of the third kinematic chain according to movement of the second kinematic chain includes, according to a determination that a third movement criterion is satisfied, moving at least a first portion of the third kinematic chain relative to the second kinematic chain during movement of the second kinematic chain while maintaining a position of a distal end portion of the third kinematic chain relative to a base of the robotic system.

[0023] In some embodiments, controlling movement of the second kinematic chain according to movement of the first kinematic chain includes, according to a determination that a fourth movement criterion is satisfied, stopping movement of the second kinematic chain.

[0024] According to another aspect of the disclosure, a robotic medical system includes a patient support platform, a first kinematic chain, and a second kinematic chain. The first kinematic chain is movably coupled to the second kinematic chain. The robotic medical system further includes a controller including one or more processors and a memory. The memory stores instructions that, when executed by the one or more processors, cause the processors to adjust a spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain. In accordance with a determination that a preset criterion is satisfied during the adjustment of the spatial configuration of the first kinematic chain in accordance with the user input directed to the first kinematic chain, the processors activate automatic movement of the second kinematic chain relative to the patient support platform.

[0025] In some embodiments, the first kinematic chain is movably coupled to the second kinematic chain via a base joint that is translatable along the second kinematic chain. Adjusting the spatial configuration of the first kinematic chain relative to the patient support platform includes translating at least the base joint of the first kinematic chain along the second kinematic chain.

[0026] In some embodiments, activating the automatic movement of the second kinematic chain relative to the patient support platform includes automatically translating the second kinematic chain relative to the patient support platform.

[0027] In some embodiments, the first kinematic chain includes a first robotic arm. The second kinematic chain includes a bar that supports the first robotic arm.

[0028] In some embodiments, the user input directed to the first kinematic chain is received via an input interface located on or proximate to the first kinematic chain.

[0029] In some embodiments, the user input directed to the first kinematic chain includes input received via a button.

[0030] In some cases, the input received via the button is continuous user input.

[0031] In some cases, the memory stores instructions that, when executed by the one or more processors, cause the processors to deactivate the automatic movement of the second kinematic chain relative to the patient support platform in accordance with a determination that continuous user input is detected via the button is discontinued.

[0032] In some embodiments, adjusting the spatial configuration of the first kinematic chain relative to the patient support platform in accordance with the user input directed to the first kinematic chain includes adjusting the spatial configuration of the first kinematic chain in accordance with direct physical manipulation of the first kinematic chain by the user in a first power-assisted manipulation mode of the first kinematic chain.

[0033] In some embodiments, the preset criteria requires that the force detected on one or more preset portions of the first kinematic chain during adjustment of the spatial configuration of the first kinematic chain exceeds a preset threshold force in order to satisfy the preset criteria.

[0034] In another aspect, some embodiments include a method for setting a robotic medical system. The robotic medical system includes a first kinematic chain and a second kinematic chain movably coupled to the first kinematic chain. The method includes obtaining first data corresponding to a manual manipulation of the first kinematic chain. The manual manipulation of the first kinematic chain causes movement of the first kinematic chain relative to the second kinematic chain. The method further includes activating an automatic movement of the second kinematic chain relative to a physical environment of the robotic medical system in accordance with a determination that the first data corresponding to the manual manipulation of the first kinematic chain satisfies preset criteria.

[0035] In some embodiments, the manual manipulation of the first kinematic chain causes translational movement of the first kinematic chain along a length of the second kinematic chain. The preset criteria is satisfied in accordance with a determination that the translational movement of the first kinematic chain has exceeded a preset cutoff limit along the length of the second kinematic chain.

[0036] In some embodiments, the first kinematic chain includes a first robotic arm. The second kinematic chain includes a bar supporting the first robotic arm.

[0037] In some embodiments, activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system includes initiating translational movement of the second kinematic chain relative to a base of the robotic medical system.

[0038] In some embodiments, the preset criteria is satisfied in accordance with a determination that the first data corresponding to the manual manipulation of the first kinematic chain has exceeded the preset cutoff limit for a threshold amount of time.

[0039] In some cases, the threshold amount of time is at least two seconds.

[0040] In some cases, the threshold amount of time can be adjusted to any value from one second to five seconds.

[0041] In some embodiments, the method includes, after activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system, receiving updated first data corresponding to additional manual movement of the first kinematic chain. The method further includes stopping the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system in accordance with a determination that the updated first data corresponding to the additional manual movement of the first kinematic chain does not satisfy the preset criteria.

[0042] In some embodiments, the additional manual movement of the first kinematic chain causes a reversal of the movement of the first kinematic chain along the length of the second kinematic chain.

[0043] In some embodiments, the first data includes a first type of user input that is continuously maintained during manual manipulation of the first kinematic chain. The updated first data includes cessation of the first type of user input.

[0044] In some embodiments, the preset criteria require that manual manipulation of the first kinematic chain be performed in accordance with direct physical manipulation of the first kinematic chain in the first power-assisted manipulation mode of the first kinematic chain.

[0045] In some embodiments, the robotic system further includes a third kinematic chain movably coupled to the second kinematic chain. The method further includes controlling movement of the third kinematic chain in accordance with the automated movement of the second kinematic chain.

[0046] In some embodiments, manual movement of the first kinematic chain along the second kinematic chain is constrained by a first limit along the second kinematic chain.

[0047] It is noted that the various embodiments described above can be combined with any of the other embodiments described herein. The features and advantages described in the specification are not all inclusive and additional features and advantages will be readily apparent to one of ordinary skill in the art in view of the following claims, the appended claims and the foregoing description, without intent to limit to the expressly recited variations. Moreover, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes and can not have been selected to delineate or circumscribe the subject application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The disclosed aspects will be described below in connection with the appended drawings, which are provided by way of illustration and not of limitation. Like drawing references denote like elements throughout the drawings.

[0049] FIG. 1 Embodiments of a cart-based robotic system arranged for a bronchoscopy procedure are shown.

[0050] FIG. 2 Additional aspects of the robotic system of FIG. 1 are depicted.

[0051] FIG. 3 Embodiments of the robotic system of FIG. 1 arranged for a ureteroscopy are shown.

[0052] FIG. 4 Embodiments of the robotic system of FIG. 1 arranged for a vascular procedure are shown.

[0053] FIG. 5 Embodiments of a table-based robotic system arranged for a bronchoscopy procedure are shown.

[0054] FIG. 6 An alternative view of the robotic system of FIG. 5 is provided.

[0055] FIG. 7 An exemplary system configured to stow a robotic arm is shown.

[0056] FIG. 8 An embodiment of a table-based robotic system configured for a ureteroscopy procedure is shown.

[0057] FIG. 9 An embodiment of a table-based robotic system configured for a laparoscopy procedure is shown.

[0058] FIG. 10 An embodiment of a table-based robotic system having pitch and tilt adjustment of FIGS. 5-9 is shown.

[0059] FIG. 11 A detailed illustration of the interface between the table and the column of the table- based robotic system of FIGS. 5-10 is provided.

[0060] FIG. 12 An alternative embodiment of a table-based robotic system is shown.

[0061] FIG. 13 An end view of the table-based robotic system of FIG. 12 is shown.

[0062] FIG. 14 An end view of a table-based robotic system with a robotic arm attached thereto is shown.

[0063] FIG. 15 An exemplary instrument driver is shown.

[0064] FIG. 16 An exemplary medical instrument having a pair of instrument drivers is shown.

[0065] FIG. 17 An alternative design of an instrument driver and instrument is shown, in which the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument.

[0066] FIG. 18 An instrument having an instrument-based insertion architecture is shown.

[0067] FIG. 19 An exemplary controller is shown.

[0068] FIG. 20 A block diagram illustrating estimation of the position of one or more elements of the robotic system of FIGS. 1-10 is depicted in accordance with an exemplary embodiment. (Such asFIGS. 16-18 A positioning system for the location of instruments.

[0069] FIG. 21 An exemplary robotic system according to some implementation schemes is shown.

[0070] FIG. 22 Another view of an exemplary robotic system according to some implementation schemes is shown.

[0071] FIG. 23A and FIG. 23B Side and front views of an exemplary robotic arm according to some implementation schemes are shown respectively.

[0072] FIGS. 24A-24F Exemplary movement of a robotic arm 210 and its underlying lever 220 is shown according to some embodiments.

[0073] FIG. 25A and FIG. 25B A flowchart of an automated lever translation according to some implementation schemes is shown.

[0074] FIGS. 26A-26E An exemplary sequence of arm and lever movements is shown according to some implementation schemes of a robotic system.

[0075] FIGS. 27A-27F An exemplary sequence of arm and lever movements is shown according to some implementation schemes of a robotic system.

[0076] FIG. 28A and FIG. 28B The diagram illustrates a flowchart of a method for setting up a robotic medical system according to some implementation schemes.

[0077] FIG. 29 A flowchart of a method for setting up a robotic medical system according to some implementation schemes is shown.

[0078] FIGS. 30A-30C A flowchart of a method for setting up a robotic medical system according to some implementation schemes is shown. Detailed Implementation

[0079] 1. SUMMARY .

[0080] 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.

[0081] In addition to performing a broad range of procedures, the system can provide additional benefits such as enhanced imaging and guidance to assist the physician. In addition, the system can provide the physician the ability to perform the procedure from an ergonomic position without the need for awkward arm movements and positions. In addition, the system can provide the physician the ability to perform the procedure with improved ease of use such that one or more of the instruments of the system can be controlled by a single user.

[0082] For purposes of illustration, various embodiments will be described below in connection with the accompanying drawings. It should be understood that many other embodiments of the disclosed concepts are possible, and that the various advantages of the disclosed embodiments can be obtained with various other embodiments. Headings are included in this document for reference and to aid in locating various sections. These headings are not intended to limit the scope of the concepts described with respect to the section in which they are found. Such concepts can have applicability throughout this document.

[0083] A. Robotic System - Cart .

[0084] A robot-enabled medical system can be configured in a variety of ways, depending on the particular procedure. FIG. 1 An embodiment of a cart-based robot-enabled system 10 is shown that is arranged for a diagnostic and / or therapeutic bronchoscopy procedure. During a bronchoscopy, the system 10 can include a cart 11 having one or more robotic arms 12 to deliver a medical instrument such as a steerable endoscope 13 (which can be a procedure-specific bronchoscope for bronchoscopy) to a natural orifice entry point (i.e., the mouth of the patient positioned on a table in this example) to deliver diagnostic and / or therapeutic tools. As shown, the cart 11 can be positioned near the upper torso of the patient in order to provide access to the entry point. Similarly, the robotic arms 12 can be actuated to position the bronchoscope relative to the entry point. When performing a gastrointestinal (GI) procedure with a gastroscope (a specialized endoscope for GI procedures), the arrangement in FIG. 1 may also be utilized. FIG. 2 An exemplary embodiment of a cart is depicted in more detail.

[0085] Continuing to refer to FIG. 1Once the cart 11 is properly positioned, the robotic arms 12 can insert the steerable endoscope 13 into the patient robotically, manually, or a combination thereof. As shown, the steerable endoscope 13 can include at least two telescoping sections, such as an inner guide section and an outer sheath section, each coupled to a separate instrument driver from a set of instrument drivers 28, each coupled to a separate distal end of a robotic arm. This linear arrangement of instrument drivers 28, which facilitates coaxial alignment of the guide section with the sheath section, creates a“virtual rail” 29 that can be repositioned in space by manipulating one or more robotic arms 12 to different angles and / or positions. The virtual rail described herein is depicted in the accompanying figures using dashed lines, and thus the dashed lines do not depict any physical structure of the system. Translation of the instrument drivers 28 along the virtual rail 29 telescopes the inner guide section relative to the outer sheath section, or advances or retracts the endoscope 13 from the patient. The angle of the virtual rail 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 rail 29 as shown represents a compromise between providing the physician access to the endoscope 13 while minimizing friction caused by bending the endoscope 13 into the patient’s mouth.

[0086] After insertion, the endoscope 13 can be directed down the patient’s trachea and lungs using precise commands from the robotic system until reaching a target destination or surgical site. To enhance navigation through the patient’s lung network and / or to reach a desired target, the steerable endoscope 13 can be extended telescopically from the outer sheath section to extend the inner guide section to obtain enhanced articulation and greater bend radius. Using separate instrument drivers 28 also allows the guide section and sheath section to be driven independently of one another.

[0087] For example, the endoscope 13 can be directed to deliver a biopsy needle to a target, such as, for example, a lesion or nodule within the patient’s lung. The needle can be deployed down a working channel that extends the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathology results, additional tools can be deployed down the working channel of the endoscope for additional biopsies. After identifying that a nodule is malignant, the endoscope 13 can deliver tools through the endoscope to resect the potential cancerous tissue. In some cases, the diagnostic and therapeutic treatments can be delivered in separate procedures. In these cases, the endoscope 13 can also be used to deliver a fiducial to“mark” the location of the target nodule. In other cases, the diagnostic and therapeutic treatments can be delivered during the same procedure.

[0088] The system 10 can also include a movable tower 30 that can be connected to the cart 11 via support cables to provide control, electronic, fluid, optical, sensor, and / or electrical power support to the cart 11. Placing such functionality in the tower 30 allows for a smaller form factor cart 11 that can be more easily adjusted and / or repositioned by the operating physician and his / her staff. Additionally, dividing functionality between the cart / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the cart 11 can be positioned close to the patient, the tower 30 can be stowed in a remote location to get out of the way during the course of the procedure.

[0089] To support the robotic system described above, the tower 30 can include components of a computer-based control system that stores computer program instructions within, for example, a non-transitory computer-readable storage medium such as a permanent magnetic storage drive, a solid state drive, or the like. Execution of these instructions, whether occurring in the tower 30 or in the cart 11, can control the entire system or subsystems thereof. For example, when executed by a processor of the computer system, the instructions can cause components of the robotic system to actuate the relevant carriages and arm mounts, actuate the robotic arms, and control the medical instruments. For example, in response to receiving a control signal, a motor in a joint of a robotic arm can position the arm into a particular pose.

[0090] The tower 30 can also include pumps, flow meters, valve controllers, and / or fluid pathways in order to provide controlled irrigation and suction capabilities to systems that can be deployed through the endoscope 13. These components can also be controlled using the computer system of the tower 30. In some embodiments, irrigation and suction capabilities can be delivered directly to the endoscope 13 through separate cables.

[0091] The tower 30 can include a voltage and surge protector designed to provide filtered and protected power to the cart 11, avoiding the placement of power transformers and other auxiliary power components in the cart 11, resulting in a smaller, more mobile cart 11.

[0092] The tower 30 can also include support equipment for sensors deployed throughout the robotic system 10. For example, the tower 30 can include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In conjunction with the control system, such optoelectronic equipment can be used to generate real-time images for display in any number of control consoles deployed throughout the system, including display in the tower 30. Similarly, the tower 30 can also include electronic subsystems for receiving and processing signals received from deployed electromagnetic (EM) sensors. The tower 30 can also be used to house and position EM field generators for detection by EM sensors in or on medical instruments.

[0093] 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.

[0094] Tower 30 can be connected to trolley 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 trolley 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 trolley can be provided via a single cable, support for control, optics, fluid, and / or navigation can also be provided via separate cables.

[0095] FIG. 2 Provided from FIG. 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. FIG. 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.

[0096] 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.

[0097] In some embodiments, the slot 20 can be supplemented with a slot cover that is flush and parallel with the slot surface to prevent dust and fluids from entering the interior cavity of the column 14 and the vertical translation interface as the carriage 17 is vertically translated. The slot cover can be deployed through a pair of spring spool positioned near the vertical top and bottom of the slot 20. The cover is coiled within the spool until deployed to extend and retract from its coiled state as the carriage 17 is vertically translated up and down. The spring load of the spool provides the force to retract the cover into the spool as the carriage 17 is translated towards the spool while also maintaining a tight seal as the carriage 17 is translated away from the spool. The cover can be connected to the carriage 17 using, for example, a bracket in the carriage interface 19 to ensure proper extension and retraction of the cover as the carriage 17 is translated.

[0098] The column 14 can internally include mechanisms such as gears and motors designed to mechanically translate the carriage 17 using a vertically aligned lead screw in response to control signals generated in response to user input (e.g., from the console 16).

[0099] The robotic arms 12 can generally include a robot 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, each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robot arm. Each of the arms 12 has seven joints and thus provides seven degrees of freedom. The multiple joints result in multiple degrees of freedom, allowing for “redundant” degrees of freedom. The redundant degrees of freedom allow the robot arms 12 to position their respective end effectors 22 at a particular position, orientation, and trajectory in space using different link positions and joint angles. This allows the system to position and steer the medical instrument from a desired point in space while allowing the physician to move the arm joints to a clinically advantageous position away from the patient to create greater access while avoiding arm collisions.

[0100] The cart base 15 balances the weight of the column 14, the carriage 17, and the arms 12 on the floor. Thus, the cart base 15 houses the heavier components, such as electronics, motors, power supplies, and components that enable the cart to move and / or be immobilized. For example, the cart base 15 includes rollable caster wheels 25 that allow the cart to be easily moved around the room prior to the procedure. After reaching the appropriate position, the caster wheels 25 can be immobilized using a wheel lock to keep the cart 11 in the appropriate position during the procedure.

[0101] A console 16 positioned at the vertical end of the column 14 allows both a user interface for receiving user input and a display screen (or dual-purpose device such as, for example, a touchscreen 26) to provide the physician user with both pre-operative and intra-operative data. Potential pre-operative data on the touchscreen 26 can include pre-operative plans derived from pre-operative computed tomography (CT) scans, navigation and mapping data and / or records from a pre-operative patient interview. Intra-operative data on the display can include optical information provided from tools, sensors and coordinate information from sensors as well as 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 the console from the side of the column 14 opposite the carriage 17. From this vantage, the physician can observe the console 16, the robotic arms 12 and the patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 for assisting in maneuvering and stabilizing the cart 11.

[0102] FIG. 3 An embodiment of a robot-enabled system 10 arranged for a ureteroscopy is shown. In a ureteroscopy procedure, the cart 11 can be positioned to deliver a ureteroscope 32, a procedure-specific endoscope designed to traverse the urethra and ureter of a patient, to the lower abdominal region of a patient. In a ureteroscopy, it can be desirable for the ureteroscope 32 to be directly aligned with the urethra of the patient to reduce friction and force on sensitive anatomy in the region. As shown, the cart 11 can be aligned at the foot of the table to allow the robotic arms 12 to position the ureteroscope 32 for direct linear access to the urethra of the patient. The robotic arms 12 can insert the ureteroscope 32 directly into the lower abdomen of the patient through the urethra from the foot of the table along a virtual rail 33.

[0103] After insertion into the urethra, using similar control techniques as in bronchoscopy, the ureteroscope 32 can be navigated into the bladder, ureter and / or kidney for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be directed into the ureter and kidney to break up an accumulated kidney stone using a laser or ultrasonic lithotripsy device deployed down the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed down the ureteroscope 32.

[0104] FIG. 4Embodiments of a robot-enabled system arranged similarly for a vascular procedure are shown. In a vascular procedure, the system 10 can be configured such that the cart 11 can deliver a medical instrument 34, such as a steerable catheter, to an access point in the femoral artery of a patient's leg. The femoral artery presents both a larger diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in a ureteroscopy procedure, the cart 11 can be positioned toward the patient's leg and lower abdomen to allow the robot arm 12 to provide a virtual rail 35 that directly linearly accesses the femoral artery access point in the patient's thigh / hip region. After insertion into the artery, the medical instrument 34 can be steered and inserted by translating the instrument driver 28. Alternatively, the cart can be positioned around the patient's upper abdomen to reach alternative vascular access points, such as the carotid and brachial arteries near the shoulder and wrist.

[0105] B. Robotic System - Table .

[0106] Embodiments of the robot-enabled medical system can also incorporate a patient table. Incorporating a table reduces the amount of capital equipment within the operating room by removing the cart, which allows more access to the patient. FIG. 5 An embodiment of such a robot-enabled system arranged for a bronchoscopy procedure is shown. The system 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") on the floor. Much like the cart-based system, the end effector of the robot arm 39 of the system 36 includes an instrument driver 42 designed to manipulate an elongate medical instrument, such as a bronchoscope 40 in FIG. 5 In practice, a C-arm for providing fluoroscopic imaging can be positioned over the patient's upper abdominal region by placing the emitter and detector around the table 38.

[0107] FIG. 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.

[0108] 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., ...). FIG. 6 As shown), on the opposite side of platform 38 (as shown) FIG. 9 (as shown) or on the adjacent side of platform 38 (not shown).

[0109] 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.

[0110] Platform base 46 has with FIG. 2The cart base 15 in the illustrated cart 11 similarly functions to house the heavier components to balance the table / bed 38, column 37, cradle 43, and robotic arm 39. The table base 46 can also incorporate rigid casters to provide stability during procedures. Casters deployed from the bottom of the table base 46 can extend in opposite directions along the two sides of the base 46 and retract when the system 36 needs to move.

[0111] Continuing FIG. 6 The system 36 can also include a tower (not shown) that divides the functions of the system 36 between the table and the tower to reduce the form factor and volume of the table. As in the previously disclosed embodiments, the tower can provide various support functions to the table such as processing, computing and control capabilities, power, fluids and / or optics, and sensor processing. The tower can also be movable to be positioned away from the patient, improving access for the physician and eliminating clutter in the operating room. Additionally, placing components in the tower allows for more storage space in the table base for potential stowage of the robotic arm. The tower can also include a main controller or console that provides a user interface such as a keyboard and / or pendant 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 can also include a holder for a gas tank to be used for insufflation.

[0112] In some embodiments, the table base can stow and store the robotic arm when not in use. FIG. 7 A system 47 is shown that stows the robotic arm in an embodiment of a table-based system. In the system 47, a cradle 48 can vertically translate into a base 49 to stow a robotic arm 50, an arm mount 51, and the cradle 48 within the base 49. A base cover 52 can translate and retract open to deploy the cradle 48, arm mount 51, and arm 50 about a column 53, and close to stow the cradle, arm mount, and arm to protect them when not in use. The base cover 52 can seal with a film 54 along the edges of its opening to prevent dust and fluids from entering when closed.

[0113] FIG. 8Embodiments of a robot-enabled table-based system configured for a ureteroscopy procedure are shown. In a ureteroscopy, the table 38 can include a swivel portion 55 for positioning the patient at an offset angle from the column 37 and table base 46. The swivel portion 55 can rotate or pivot about a pivot point (e.g., located below the patient's head) in order to position the bottom portion of the swivel portion 55 away from the column 37. For example, the pivoting of the swivel portion 55 allows a C-arm (not shown) to be positioned over the patient's lower abdomen without competing for space with the column (not shown) below the table 38. By rotating the carriage 35 (not shown) about the column 37, the robotic arms 39 can insert a ureteroscope 56 directly into the patient's groin area along a virtual rail 57 to reach the urethra. In a ureteroscopy, a stirrup 58 can also be secured to the swivel portion 55 of the table 38 to support the position of the patient's legs during the procedure and allow full access to the patient's groin area.

[0114] In a laparoscopy procedure, a minimally invasive instrument can be inserted into a patient's anatomy through one or more small incisions in the patient's abdominal wall. In some embodiments, the minimally invasive instrument includes an elongate rigid member, such as a shaft, for accessing the anatomy within the patient. After the patient's abdominal cavity is inflated, the instrument can be guided to perform a surgical or medical task, such as grasping, cutting, ablating, suturing, etc. In some embodiments, the instrument can include a scope, such as a laparoscope. FIG. 9 Embodiments of a robot-enabled table-based system configured for a laparoscopy procedure are shown. As shown, FIG. 9 The carriage 43 of the system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of the table 38 so that the instruments 59 can be positioned through minimal incisions on both sides of the patient to reach his / her abdominal cavity, as shown.

[0115] To accommodate a laparoscopy procedure, the robot-enabled table system can also tilt the platform to a desired angle. FIG. 10 Embodiments of a robot-enabled medical system with pitch or tilt adjustment are shown. As shown, FIG. 10 The system 36 can accommodate a tilt of the table 38 to position one portion of the table at a greater distance from the floor than the other portion, as shown. Additionally, the arm mounts 45 can be rotated to match the tilt so that the arms 39 maintain the same planar relationship with the table 38. To accommodate a steeper angle, the column 37 can also include a telescoping portion 60 that allows the vertical extension of the column 37 to prevent the table 38 from contacting the floor or colliding with the base 46.

[0116] FIG. 11A detailed illustration of the interface between the table 38 and the column 37 is provided. The pitch rotation mechanism 61 can be configured to change the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom. The pitch rotation mechanism 61 can be implemented by positioning orthogonal axes 1, 2 at the column table interface, each axis actuated by a separate motor 3, 4 in response to an electrical pitch angle command. Rotation along one screw 5 will enable tilt adjustment in one axis 1, while rotation along the other screw 6 will enable tilt adjustment along the other axis 2. In some embodiments, a spherical joint can be used to change the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom.

[0117] Pitch adjustment is particularly useful, for example, when attempting to position the table in a Trendelenburg position (i.e., to position a patient's lower abdomen in a higher elevation than the patient's lower abdomen from the floor) for lower abdominal surgery. The head-low feet-high position causes the patient's internal organs to slide by gravity toward his / her upper abdomen, clearing out the abdominal cavity for minimally invasive tools to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0118] FIG. 12 and FIG. 13 Isometric and end views of an alternative embodiment of a table-based surgical robotic system 100 are shown. The surgical robotic system 100 includes one or more adjustable arm supports 105 that can be configured to support one or more robotic arms (see, e.g., FIG. 1) relative to a table 101. In the illustrated embodiment, a single adjustable arm support 105 is shown, but additional arm supports can be provided on opposite sides of the table 101. The adjustable arm support 105 can be configured so that it can be moved relative to the table 101 to adjust and / or change the position of the adjustable arm support 105 and / or any robotic arms mounted to it relative to the table 101. For example, the adjustable arm support 105 can be adjusted one or more degrees of freedom relative to the table 101. The adjustable arm support 105 provides high flexibility for the system 100, including the ability to easily stow the one or more adjustable arm supports 105 and any robotic arms attached thereto underneath the table 101. The adjustable arm support 105 can be raised from a stowed position to a position below the upper surface of the table 101. In other embodiments, the adjustable arm support 105 can be raised from a stowed position to a position above the upper surface of the table 101. FIG. 14 The adjustable arm support 105 can provide several degrees of freedom, including lift, lateral translation, tilt, etc. In the illustrated embodiment of FIGS. 1 1 and 12, the arm support 105 is configured to have four degrees of freedom, which are indicated by the arrows in FIG. 12.

[0119] and FIG. 12 In the illustrated embodiment of FIGS. 1 1 and 12, the arm support 105 is configured to have four degrees of freedom, which are indicated by the arrows in FIG. 12. FIG. 13 FIG. 12 ​The first degree of freedom allows adjustment of the adjustable arm support 105 in the z-direction ("Z-lift"). For example, the adjustable arm support 105 can include a carriage 109 configured to move up or down along or relative to a column 102 of the support table 101. The second degree of freedom can allow the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 can include a rotary joint that can allow the adjustable arm support 105 to align with the bed in a Trendelenburg position. The third degree of freedom can allow the adjustable arm support 105 to "pivot up," which can be used to adjust the distance between a side of the table 101 and the adjustable arm support 105. The fourth degree of freedom can allow the adjustable arm support 105 to translate along the longitudinal length of the table.

[0120] FIG. 12 and FIG. 13 The surgical robotic system 100 in FIG. 13 is shown in

[0121] The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the table 101 or the base 103. The adjustable arm support 105 can include a carriage 109, a bar or rail connection 111, and a bar or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to one another.

[0122] The carriage 109 can be attached to the column 102 by a first joint 113 that allows the carriage 109 to move relative to the column 102 (e.g., such as up and down along a first or vertical axis 123). The first joint 113 can provide a first degree of freedom ("Z-lift") to the adjustable arm support 105. The adjustable arm support 105 can include a second joint 115 that provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 can include a third joint 117 that can provide a third degree of freedom ("pivot up") to the adjustable arm support 105. An additional joint 119 (shown in FIG. 13 ) can be provided that mechanically constrains the third joint 117 to maintain the orientation of the rail 107 as the rail connection 111 rotates about the third axis 127. The adjustable arm support 105 can include a fourth joint 121 that can provide a fourth degree of freedom (translation) to the adjustable arm support 105 along a fourth axis 129.

[0123] FIG. 14An end view of a surgical robotic system 140A is shown having two adjustable arm supports 105A, 105B mounted on opposite sides of a table 101, according to one embodiment. A first robotic arm 142A is attached to a bar or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. A distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can attach to one or more robotic medical instruments or tools. Similarly, a second robotic arm 142B includes a base 144B attached to a rail 107B. A distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to attach to one or more robotic medical instruments or tools.

[0124] In some embodiments, one or more of the robotic arms 142A, 142B include an arm having seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B can include eight degrees of freedom, including an insertion axis (including 1 degree of freedom of insertion), a wrist (including 3 degrees of freedom of wrist pitch, yaw, and roll), an elbow (including 1 degree of freedom of elbow pitch), a shoulder (including 2 degrees of freedom of shoulder pitch and yaw), and a base 144A, 144B (including 1 degree of freedom of translation). In some embodiments, the insertion degree of freedom can be provided by the robotic arm 142A, 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

[0125] C. Instrument Drivers and Interfaces .

[0126] The end effector of a robotic arm of the system includes (i) an instrument drive (alternatively referred to as an “instrument drive mechanism” or “instrument device manipulator”) incorporating electromechanical devices for actuating a medical instrument, and (ii) a removable or detachable medical instrument, which can be free of any electromechanical components, such as motors. This dichotomy can be driven by the need to sterilize medical instruments used in medical procedures, and the inability to adequately sterilize expensive capital equipment due to its complex mechanical components and sensitive electronics. As a result, the medical instrument can be designed to be detached, removed, and interchanged from the instrument drive (and thus from the system) for individual sterilization or disposal by the physician or the physician’s staff. In contrast, the instrument drive need not be changed or sterilized and can be covered for protection.

[0127] FIG. 15An example instrument driver is shown. An instrument driver 62 positioned at the distal end of a robotic arm includes one or more drive units 63 arranged with parallel axes to provide controlled torque to a medical instrument via drive shafts 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the instrument, a gearhead 65 for converting motor shaft rotation to a desired torque, a motor 66 for generating the drive torque, an encoder 67 to measure the speed of the motor shaft and provide feedback to the control circuit, and a control circuit 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument driver 62 can provide multiple (e.g., four) independent drive outputs to a medical instrument. In operation, the control circuit 68 will receive control signals, transmit motor signals to the motor 66, compare the resulting motor speed measured by the encoder 67 to a desired speed, and modulate the motor signals to generate the desired torque. FIG. 15 Four) independent drive outputs are shown. In operation, the control circuit 68 will receive control signals, transmit motor signals to the motor 66, compare the resulting motor speed measured by the encoder 67 to a desired speed, and modulate the motor signals to generate the desired torque.

[0128] For procedures requiring a sterile field, the robotic system can incorporate a drive interface, such as a sterile adapter connected to a sterile drape, that sits between the instrument driver and the medical instrument. The primary purpose of the sterile adapter is to transfer angular motion from the drive shafts of the instrument driver to the drive inputs on the instrument while maintaining physical separation between the drive shafts and the drive inputs and thus maintaining sterility. Thus, an example sterile adapter can include a series of rotary inputs and rotary outputs designed to mate with the drive shafts of the instrument driver and the drive inputs on the instrument. A sterile drape composed of a thin, flexible material, such as clear or translucent plastic, connected to the sterile adapter is designed to drape the capital equipment, such as the instrument driver, the robotic arm, and the cart (in a cart-based system) or table (in a table-based system). The use of the drape will allow the capital equipment to be positioned in the vicinity of the patient while still being located in an area that does not require sterilization (i.e., the non-sterile field). On the other side of the sterile drape, the medical instrument can be interfaced with the patient in an area that requires sterilization (i.e., the sterile field).

[0129] D. Medical Instruments .

[0130] FIG. 16An example medical instrument with paired instrument drivers is shown. Like other instruments designed for use with robotic systems, the medical instrument 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as an “instrument handle” due to its intended design for manual interaction by a physician, can generally include a rotatable drive input 73 (e.g., a socket, pulley, or spool) designed to mate with a drive output 74 of a drive interface on an instrument driver 75 extending through a distal end of a robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 can share an axis of rotation with the drive output 74 in the instrument driver 75 to allow torque to be transferred from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 can include splines designed to mate with a receptacle on the drive input 73.

[0131] The elongated shaft 71 is designed to be delivered through an anatomical opening or lumen (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., with properties similar to an endoscope) or rigid (e.g., with properties similar to a laparoscope), or contain a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of a rigid elongated shaft can be connected to an end effector extending from a joint wrist formed by a connecting fork with at least one degree of freedom and a surgical tool or medical instrument (such as, for example, a grasper or scissors) that can be actuated based on forces from the tendon when the drive input is rotated in response to torque received from the drive output 74 of the instrument driver 75. When designed for endoscopy, the distal end of a flexible elongated shaft can include a steerable or controllable bending segment that is articulated and bent based on torque received from the drive output 74 of the instrument driver 75.

[0132] Torque from instrument drivers 75 is transmitted down the shaft 71 to the elongated shaft 71 using tendons. These individual tendons (e.g., pull wires) can be individually anchored to individual driving inputs 73 within the instrument handle 72. From the handle 72, the tendons are routed down one or more pull lumens along the elongated shaft 71 and anchored at a distal portion of the elongated shaft 71, or in a wrist at the distal portion of the elongated shaft. During a surgical procedure, such as a laparoscopic, endoscopic, or hybrid procedure, these tendons can be coupled to a distally mounted end effector, such as a wrist, grasper, or scissors. Under such an arrangement, torque placed on the driving inputs 73 transmits tension to the tendons, causing the end effector to actuate in some manner. In some embodiments, during a surgical procedure, the tendons can cause a joint to rotate about an axis, thereby causing the end effector to move in one direction or another. Alternatively, the tendons can connect to one or more jaws of a grasper at a distal end of the elongated shaft 71, where tension from the tendons causes the grasper to close.

[0133] In endoscopy, the tendons can be coupled to a bending or articulating segment positioned along the elongated shaft 71 (e.g., at the distal end) via adhesive, control rings, or other mechanical fixtures. When fixedly attached to the distal end of the bending segment, torque placed on the driving inputs 73 will be transmitted down the tendon, causing the softer bending segment (sometimes referred to as an articulatable segment or region) to bend or articulate. Along the unbending segment, it can be advantageous to have the individual pull lumens spiral or coil, routing the individual tendons along (or inside) the wall of the endoscope shaft to balance the radial forces caused by tension in the pull wires. The angle of the spiral and / or the spacing therebetween can be varied or designed for a particular purpose, with tighter spirals exhibiting less shaft compression under a load force, while lower amounts of spiraling cause greater shaft compression under a load force, but also exhibit limited bending. In another instance, the pull lumens can be routed parallel to the longitudinal axis of the elongated shaft 71 to allow for controlled articulation in the desired bending or articulatable segment.

[0134] In endoscopy, the elongated shaft 71 houses a number of components to assist in the robotic procedure. The shaft can include a working channel for deployment of surgical tools (or medical instruments), irrigation, and / or suction to the operative region at the distal end of the shaft 71. The shaft 71 can also house wires and / or optical fibers to transmit signals to / from an optical assembly at the distal tip, which can include an optical camera. The shaft 71 can also house optical fibers to carry light from a light source located proximally, such as a light-emitting diode, to the distal end of the shaft.

[0135] At the distal end of instrument 70, the distal tip can also include an opening for a working channel to deliver tools for diagnosis and / or treatment, irrigation, and suction to the surgical site. The distal tip can also include a port for a camera, such as a fiberscope or digital camera, to capture images of the internal anatomical space. Relatedly, the distal tip can also include a port for a light source to illuminate the anatomical space when using the camera.

[0136] In FIG. 16 In the example of FIG. 8, the drive shaft axis and thus the drive input axis is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the roll ability of the elongated shaft 71. Rolling the elongated shaft 71 along its axis while keeping the drive input 73 stationary causes undesirable tangling of the tendons as they extend out from the drive input 73 and into the pull cavities within the elongated shaft 71. The resulting tangling of the tendons can break any control algorithms intended to predict the movement of the flexible elongated shaft during an endoscopic procedure.

[0137] FIG. 17 An alternative design of an instrument driver and instrument is shown in which the axis of the drive units is parallel to the axis of the elongated shaft of the instrument. As shown, a circular instrument driver 80 includes four drive units whose drive outputs 81 are aligned in parallel at the end of a robotic arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument driver 80 that is driven by one of the drive units within the 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 a non-rotating portion 84 of the instrument driver. Electrical power and control signals can be transmitted from the non-rotating portion 84 of the instrument driver 80 to the rotating assembly 83 through electrical contacts that can be maintained through rotation of a brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 can be responsive to a separate drive unit integrated into the non-rotatable portion 84 and thus not parallel to the other drive units. The rotating mechanism 83 allows the instrument driver 80 to allow the drive units and their respective drive outputs 81 to rotate as a single unit about an instrument driver axis 85.

[0138] Similar to the previously disclosed embodiments, the instrument 86 can include an elongated shaft portion 88 and an instrument base 87 (shown with a transparent outer skin for discussion purposes) that includes a plurality of drive inputs 89 (such as sockets, pulleys, and spools) configured to receive the drive outputs 81 in the instrument driver 80. Unlike the previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87 whose axis is substantially parallel to the axis of the drive inputs 89 rather than orthogonal as in the design of FIG. 8. FIG. 16

[0139] ​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 about the instrument driver axis 85 in combination with the rotating assembly 83. Since the instrument shaft 88 is positioned at the center of the instrument base 87, the instrument shaft 88 is coaxial with the instrument driver axis 85 when attached. Thus, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Furthermore, any tendons connected to the drive input 89 in the instrument base 87 are not tangled during rotation when the instrument base 87 is rotated with the instrument shaft 88. Thus, 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 tangling any control tendons.

[0140] FIG. 18 An instrument with an instrument-based insertion architecture is shown in accordance with some embodiments. The instrument 150 can be coupled to any of the instrument drivers described above. The instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a handle 170 coupled 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 therethrough. Thus, the one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 can also pass through the elongated shaft 152. Manipulation of the one or more cables 180 (e.g., via an instrument driver) causes actuation of the end effector 162.

[0141] The instrument handle 170 (also referred to as an instrument base) can generally include an attachment interface 172 having one or more mechanical inputs 174, such as receptacles, pulleys, or spools, designed to reciprocally mate with one or more torque couplers on the attachment surface of the instrument driver.

[0142] 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 accommodates insertion of the instrument, thereby minimizing reliance on a robotic arm to provide for insertion of the instrument 150. In other embodiments, the robotic arm can be largely responsible for instrument insertion.

[0143] E. Controller .

[0144] Any of the robotic systems described herein can include an input device or controller for manipulating an instrument attached to a robotic arm. In some embodiments, the controller can be coupled (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) with the instrument such that manipulation of the controller causes corresponding manipulation of the instrument, e.g., via master-slave control.

[0145] FIG. 19 is a perspective view of an embodiment of the controller 182. In this embodiment, the controller 182 includes a hybrid controller that can have both impedance and admittance control. In other embodiments, the controller 182 can utilize impedance or passive control only. In other embodiments, the controller 182 can utilize admittance control only. By being a hybrid controller, the controller 182 advantageously can have lower perceived inertia in use.

[0146] In the illustrated embodiment, the controller 182 is configured to allow manipulation of two medical instruments and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.

[0147] As shown in FIG. 19 each positioning platform 188 includes a SCARA arm (selectively compliant assembly robotic arm) 198 coupled to a column 194 by a prismatic joint 196. The prismatic joint 196 is configured to translate along the column 194 (e.g., along a rail 197) to allow each of the handles 184 to translate in the z-direction, providing a first degree of freedom. The SCARA arm 198 is configured to allow the handle 184 to move in the x-y plane, providing two additional degrees of freedom.

[0148] In some embodiments, one or more load sensors are positioned in the controller. For example, in some embodiments, a load sensor (not shown) is positioned in the body of each of the gimbals 186. By providing a load sensor, portions of the controller 182 are able to operate under admittance control, advantageously reducing the perceived inertia of the controller in use. In some embodiments, the positioning platforms 188 are configured for admittance control, while the gimbals 186 are configured for impedance control. In other embodiments, the gimbals 186 are configured for admittance control, while the positioning platforms 188 are configured for impedance control. Thus, for some embodiments, the translational or positional degrees of freedom of the positioning platforms 188 can rely on admittance control, while the rotational degrees of freedom of the gimbals 186 rely on impedance control.

[0149] F. Navigation and Control .

[0150] Traditional endoscopy can involve the use of fluoroscopy (e.g., as can be delivered through a C-arm) and other forms of radiation-based imaging modalities to provide endoluminal guidance to the operating physician. In contrast, the robotic systems contemplated by the present disclosure can provide non-radiation-based navigation and localization means to reduce physician exposure to radiation and to reduce the amount of equipment within the operating room. As used herein, the term“localization” can refer to determining and / or monitoring the position of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robotic 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 robotic command data can be used individually or in combination to improve the information obtained through radiation-based imaging modalities alone.

[0151] FIG. 20 is a block diagram illustrating a localization system 90 that estimates the position of one or more elements of a robotic system, such as the position of an instrument, in accordance with example embodiments. The localization system 90 can be a set of one or more computer devices configured to execute one or more instructions. The computer devices can be embodied by a processor (or processors) and computer-readable memory in one or more components discussed above. By way of example and not limitation, the computer devices can be located in FIG. 1 the tower 30, FIGS. 1-4 the cart, FIGS. 5-14 the bed, etc. shown.

[0152] As FIG. 20 illustrated, the localization system 90 can include a localization module 95 that processes input data 91-94 to generate position data 96 for the distal tip of a medical instrument. The position data 96 can be data or logic that represents the position and / or orientation of the distal end of the instrument relative to a reference frame. The reference frame can be a reference frame relative to patient anatomy or a known object such as an EM field generator (see discussion below for EM field generators).

[0153] The various input data 91-94 are now described in more detail. Preoperative mapping can be accomplished by using a collection of low-dose CT scans. The preoperative CT scans are reconstructed into three-dimensional images that are visualized, for example, as "slices" of a cross-sectional map of the patient's internal anatomy. When analyzed in the aggregate, an image-based model of the anatomical lumens, spaces, and structures for the patient's anatomy, such as the patient's lung network, can be generated. Techniques such as centerline geometry can be determined and approximated from the CT images to form a three-dimensional volume of the patient's anatomy, 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 in their entirety. Network topology models can also be derived from the CT images and are particularly suitable for bronchoscopy.

[0154] In some embodiments, the instrument can be equipped with a camera to provide visual data 92. The localization module 95 can process the visual data to enable one or more vision-based position tracking. For example, the preoperative model data can be used in conjunction with the visual data 92 to enable computer vision-based tracking of the medical instrument (e.g., an endoscope or an instrument advanced through a working channel of the endoscope). For example, using the preoperative model data 91, the robotic system can generate a library of expected endoscope images from the model based on the expected path of travel of the endoscope, each image linked to a location within the model. In operation, the robotic system can reference this library in order to compare real-time images captured at a camera (e.g., a camera at the distal end of the endoscope) to those in the image library to assist in localization.

[0155] Other computer vision-based tracking techniques use feature tracking to determine movement of the camera, and thus the endoscope. Some features of the localization module 95 can identify circular geometries in the preoperative model data 91 that correspond to anatomical lumens and track changes in those geometries to determine which anatomical lumens are selected, as well as track relative rotational and / or translational motion of the camera. The use of a topology map can further enhance the vision-based algorithms or techniques.

[0156] Optical flow (another computer vision-based technique) can analyze the displacement and translation of image pixels in a video sequence in the visual data 92 to infer camera movement. Examples of optical flow techniques can include motion detection, object segmentation calculations, brightness, motion compensated encoding, stereo disparity measurement, etc. Through multiple iterations of multi-frame comparisons, the movement and location of the camera (and thus the endoscope) can be determined.

[0157] The localization module 95 can use real-time EM tracking to generate real-time positions of the endoscope in a global coordinate system, which can be registered to the patient's anatomy represented by the pre-operative model. In EM tracking, EM sensors (or trackers), including one or more sensor coils embedded in one or more positions and orientations of a medical instrument (e.g., an endoscope tool), measure changes in an EM field produced by one or more static EM field generators positioned at known locations. The position information detected by the EM sensors is stored as EM data 93. The EM field generators (or transmitters) can be placed near the patient to produce a low-intensity magnetic field that the embedded sensors can detect. The magnetic field induces a small electric current in the sensor coils of the EM sensors, 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 anatomy (e.g., the pre-operative model) intraoperatively to determine a geometric transformation that aligns individual positions in a coordinate system to locations in the pre-operative model of the patient's anatomy. Once registered, the embedded EM trackers in one or more locations of the medical instrument (e.g., the distal tip of the endoscope) can provide real-time indications of the progress of the medical instrument through the patient's anatomy.

[0158] The robot commands and kinematics data 94 can also be used by the localization module 95 to provide position data 96 for the robotic system. Device pitch and yaw from joint motion commands can be determined during pre-operative calibration. Intraoperatively, these calibration measurements can be used in conjunction with known insertion depth information to estimate the position of the instrument. Alternatively, these calculations can be analyzed in conjunction with EM, vision, and / or topological modeling to estimate the position of the medical instrument within the network.

[0159] FIG. 20 As shown, the localization module 95 can use a number of other input data. For example, although not shown in FIG. 1, an instrument utilizing a shape-sensing fiber can provide shape data that the localization module 95 can use to determine the position and shape of the instrument. FIG. 20

[0160] The localization module 95 can use the input data 91-94 in combination. In some cases, such combination can use a probabilistic approach in which the localization module 95 assigns a confidence weight to the position determined from each of the input data 91-94. Thus, in cases where the EM data can be unreliable (as can be the case with EM interference), the confidence of the position determined from the EM data 93 can be reduced, and the localization module 95 can rely more heavily on the vision data 92 and / or the robot commands and kinematics data 94.

[0161] ​As discussed above, the robotic systems discussed herein can be designed to incorporate a combination of one or more of the above techniques. The computer-based control system of the robotic system located in the tower, bed, and / or cart can store computer program instructions within, for example, a non-transitory computer-readable storage medium (such as a permanent magnetic storage drive, solid state drive, etc.) that, when executed, 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 position of the instrument within a global coordinate system, anatomical maps, etc.

[0162] 2. Systems, Devices, and Methods for Controlling Movement of Kinematic Chains

[0163] Aspects of the present disclosure relate to systems, devices, and methods for controlling movement of multiple kinematic chains, including commanding bar translation when manipulating a robotic arm (e.g., in a manual manipulation mode).

[0164] A robot-enabled medical system can include a robotic arm supported on an underlying bar (e.g., an adjustable arm support). Prior to a surgical procedure, a user can be required to set up the robotic arm and the bar into a desired configuration. In some cases, the user can move one or more robotic arms (e.g., directly) to a desired set-up position, but will have to rely on a controller to manipulate the underlying bar. Embodiments of the present disclosure advantageously relate to systems, devices, and techniques that automatically move the underlying bar while the user manipulates one or more robotic arms, to make the set-up process easier and faster.

[0165] A. Robotic System

[0166] FIG. 21 An example robotic system 200 is shown in accordance with some embodiments. In some embodiments, the robotic system 200 is a robotic medical system (e.g., a robotic surgical system). In FIG. 21 In the example, the robotic system 200 includes a patient support platform 202 (e.g., a patient platform, table, bed, etc.). Two ends along a length of the patient support platform 202 are referred to as the “head” and the “foot,” respectively. Two sides of the patient support platform 202 are referred to as the “left” and the “right,” respectively. The patient support platform 202 includes a support 204 (e.g., a rigid frame) for the patient support platform 202.

[0167] The robotic system 200 also includes a base 206 for supporting the robotic system 200. The base 206 includes wheels 208 that allow the robotic system to be easily moved or repositioned in a physical environment. In some embodiments, the wheels 208 are omitted from the robotic 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 with feet.

[0168] 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. FIGS. 1-20 One or more robotic medical procedures as described above. Although FIG. 21 Five robotic arms 210 are shown, but it should be understood that the robotic system 200 may include any number of robotic arms.

[0169] 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... FIG. 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.

[0170] FIG. 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.

[0171] In some implementations, the adjustable arm support 220 may be configured to provide a base position for one or more robotic arms of 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).

[0172] 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.

[0173] exist FIG. 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.

[0174] One or more of the robotic arms 210 can also be configured to hold an instrument 212 (e.g., a robotically controlled medical instrument or tool such as an endoscope, a cannula, and / or any other instrument that can be used during a surgical procedure) during a robotic medical procedure.

[0175] FIG. 22 Another view of an example robotic system 200 is shown in accordance with some embodiments. FIG. 21 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. The patient platform 202 is supported by columns 214 that extend between the base 206 and the patient platform 202. In some embodiments, the patient platform 202 includes a tilt mechanism 216. The tilt mechanism 216 can be positioned between the columns 214 and the patient platform 202 to allow the patient platform to pivot, rotate, or tilt relative to the columns 214. The tilt mechanism 216 can be configured to allow lateral tilting and / or longitudinal tilting of the patient platform 202. In some embodiments, the tilt mechanism 216 allows the patient platform 202 to simultaneously lateral tilt and longitudinal tilt.

[0176] FIG. 22 The patient platform 202 is shown in an un-tilted state or position. In some embodiments, the un-tilted state or position can be a 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 un-tilted state, the patient platform 202 can be positioned horizontally or parallel to a surface (e.g., a floor or ground) that supports the robotic medical system 200.

[0177] With continued reference to FIG. 22 In the illustrated 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 cushions 222. An upper surface of the patient platform 202 can include a support surface 224. During a medical procedure, a patient can be placed on the support surface 224.

[0178] FIG. 22The robotic arm 210 and adjustable arm support 220 are shown in an example deployment configuration, with the robotic arm 210 reaching above the patient platform 202. In some embodiments, due to the configuration of the robotic system 200 that enables different components to be stowed below the patient platform 202, the robotic arm 210 and arm support 220 can occupy space below the patient platform 202. Accordingly, in some embodiments, it can be advantageous to configure the tilt mechanism 216 to have a low profile and / or small volume to maximize the space available for storage below.

[0179] FIG. 22 An example x, y, and z coordinate system is also shown that will be used to describe certain features of the embodiments disclosed herein. It should be understood that this coordinate system is provided for example and explanation purposes only, and that other coordinate systems can be used. In the illustrated example, when the patient platform 202 is in an un-tilted state, the x-direction or x-axis extends in a lateral direction across the patient platform 202. That is, when the patient platform 202 is in an un-tilted state, the x-direction extends across the patient platform 202 from one lateral side (e.g., the right side) to the other lateral side (e.g., the left side). When the patient platform 202 is in an un-tilted state, the y-direction or y-axis extends in a longitudinal direction along the patient platform 202. That is, when the patient platform 202 is in an un-tilted state, the y-direction extends along the patient platform 202 from one longitudinal end (e.g., the head end) to the other longitudinal end (e.g., the leg end). In the un-tilted state, the patient platform 202 can lie in or parallel to an x-y plane, which can be parallel to a floor or ground. In the illustrated example, the z-direction or z-axis extends in a vertical direction along the column 214. In some embodiments, the tilt mechanism 216 is configured to laterally tilt the patient platform 202 by rotating the patient platform 202 about a lateral tilt axis that is parallel to the y-axis. The tilt mechanism 216 can be further configured to longitudinally tilt the patient platform 202 by rotating the patient platform 202 about a longitudinal tilt axis that is parallel to the x-axis.

[0180] B. Robotic Arm

[0181] FIG. 23A and FIG. 23B Side and front views of an example robotic arm 210 according to some embodiments are shown.

[0182] FIG. 23A The robotic arm 210 is shown to include a plurality of links 302. The links 302 are connected by one or more joints 304. Each of the joints 304 includes one or more degrees of freedom (DoF). In the illustrated example, the robotic arm 210 includes a base link 302a, a first link 302b, a second link 302c, a third link 302d, and a fourth link 302e. The base link 302a is connected to the base 206 by a first joint 304a. The first link 302b is connected to the base link 302a by a second joint 304b. The second link 302c is connected to the first link 302b by a third joint 304c. The third link 302d is connected to the second link 302c by a fourth joint 304d. The fourth link 302e is connected to the third link 302d by a fifth joint 304e. The fourth link 302e is also connected to the patient platform 202 by a sixth joint 304f. FIG. 23AIn particular embodiments, joint 304 includes a first joint 304-1 (e.g., a base joint or A0 joint) located at or near base 306. In some embodiments, base joint 304-1 includes a prismatic joint that allows robot arm 210 to translate along bar 220. In some embodiments, joint 304 also includes a second joint 304-2 that enables link 302-2 to tilt and / or rotate, an elbow joint (e.g., an A3 joint) 304-3 that connects two links (e.g., links 302-2 and 302-3), and a pair of joints 304-4 (e.g., a wrist roll joint or A4 joint) and 304-5 (e.g., a wrist pitch joint or A5 joint) located on a distal portion of robot arm 210.

[0183] A proximal end of robot arm 210 can be connected to base 306, and a distal end of robot arm 210 can be connected to an advanced device manipulator (ADM) 308 (e.g., a tool driver or end effector, etc.). ADM 308 can be configured to control positioning and manipulation of medical instrument 212 (e.g., a tool, a scope, etc.).

[0184] In some embodiments, robot arm 210 includes one or more sensors. For example, base joint 304-1 can include a force sensor to detect forces (e.g., axial forces) of robot arm 210 along bar 220. A load cell (e.g., a six-axis load cell) can be placed at or near the A4-A5 joint to detect and resolve forces and / or torques on end effector 308. In some embodiments, contact sensors can be placed on (or in) one or more links 302 of robot arm 210 to detect forces on the links.

[0185] Robot arm 210 can also include a cannula sensor 310 to detect a docking state of robot arm 210. In some embodiments, when cannula sensor 310 detects the presence of a cannula (e.g., via one or more processors of robotic system 200), robot arm 210 is placed in a docked state (e.g., a docked position). In some embodiments, when robot arm 210 is in the docked position, robot arm 210 can perform a null-space motion to maintain a position and / or orientation of the cannula, as discussed in further detail below. Conversely, when cannula sensor 310 does not detect a cannula, robot arm 210 is placed in an undocked state (e.g., an undocked position).

[0186] In some embodiments, and as FIG. 23AAs shown, the robotic arm 210 includes a button 312 (e.g., a circular ring button, or other type of control, etc.) that can be used to place the robotic arm 210 in admittance mode. In admittance mode, the robotic system 210 measures force and / or torque and outputs corresponding velocity and / or position. In some embodiments, the robotic arm 210 can be manually manipulated by a user in admittance mode (e.g., during setup procedures, or between procedures, etc.).

[0187] In some embodiments, the link 302 can be detachably coupled to the medical tool 212 (e.g., to facilitate easy installation and removal of the medical tool 212 onto the robotic arm 210). The joint 304 provides a plurality of degrees of freedom (DoF) to the robotic arm 210 that facilitate control of the medical tool 212 via the ADM 308.

[0188] FIG. 23B A front view of the robotic arm 210 is shown. In some embodiments, the robotic arm 210 includes a button 314 (e.g., a push-down button) that is different from the button 312 in FIG. 23A for placing the robotic arm in impedance mode (e.g., by a single press or a continuous press and hold of the button). In this example, the button 304 is located between the A4 joint 304-4 and the A5 joint 304-5. In impedance mode, the robotic system 200 measures displacement (e.g., changes in position and velocity) and outputs force to facilitate manual movement of the robotic arm. In some embodiments, the robotic arm 210 can be manually manipulated by a user in impedance mode (e.g., during setup procedures).

[0189] In some embodiments, the robotic arm 210 includes a single button that can be used to place the robotic arm 210 in admittance mode and impedance mode (e.g., by using different presses, such as a long press, a short press, a press and hold, etc.). In some embodiments, the robotic arm 210 can be placed in impedance mode by a user pushing on the arm link (e.g., the link 302) and / or joint (e.g., the joint 304) and overcoming a force threshold.

[0190] During a medical procedure, it can be desirable for the ADM 308 of the robotic arm 210 and / or the remote center of motion (RCM) of the tool 212 coupled thereto to remain in a static pose / position. The RCM can refer to a point in space where a cannula or other access port of the medical tool 212 is constrained in motion. In some embodiments, the medical tool 212 includes an end effector that is inserted through an incision or natural orifice of a patient while maintaining the RCM. In some embodiments, the medical tool 212 includes an end effector that is in a retracted state during setup of the robotic medical system.

[0191] In some cases, the robotic system 200 can be configured to move one or more links 302 of the robotic arm 210 within a "null space" to avoid collision 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 null space can be considered as the space in which the robotic arm 210 can move without causing the ADM 308 and / or RCM to move, thereby maintaining the position and / or orientation of the medical tool 212 (e.g., within the patient). In some embodiments, the robotic arm 212 can have multiple positions and / or configurations available for each pose of the ADM 308.

[0192] For robotic arms 210 that move the ADM 308 to a desired pose in space, in certain embodiments, the robotic arm 210 can have at least six DoF - three DoF for translation (e.g., X, Y, Z position) and three DoF for rotation (e.g., yaw, pitch, and roll). In some embodiments, each joint 304 can provide the robotic arm 210 with a single DoF, and thus, the robotic arm 210 can have at least six joints to achieve the degrees of freedom of movement 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 a desired pose, the robotic arm 210 can further have at least one additional "redundant joint." Thus, in certain embodiments, the system can include a robotic arm 210 having at least seven joints 304 that provide the robotic arm 210 with at least seven DoF. In some embodiments, the robotic arm 210 can include a subset of joints 304 each having more than one degree of freedom, thereby achieving additional DoF for null space motion. However, depending on the embodiment, the robotic arm 210 can have a greater or lesser number of DoF.

[0193] Further, as described in FIG. 12 the bar 220 (e.g., adjustable arm support) can provide several degrees of freedom, including elevation, lateral translation, tilt, etc. Thus, according to embodiments, the robotic medical system can have more degrees of freedom of robotic control than just in the robotic arm 210 to provide null space movement and collision avoidance. In each of these embodiments, the end effector of the one or more robotic arms (and any tools or instruments coupled therewith) and / or the remote center of the tools associated therewith can advantageously maintain a pose and / or position within the patient.

[0194] A robotic arm 210 with 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, a robotic arm 210 can have at least seven DoFs, where one of the joints 304 of the robotic arm 210 can be considered a redundant joint. The one or more redundant joints can allow the robotic arm 210 to move in null space to both maintain a pose of the ADM 308 and a position of the RCM and avoid collisions with other robotic arms or objects.

[0195] In some embodiments, the robotic system 200 can be configured to perform collision avoidance by utilizing movement in null space of one or more redundant joints to avoid collisions between, for example, adjacent robotic arms 210. For example, when a robotic arm 210 collides or approaches (e.g., within a defined distance) another robotic arm 210, one or more processors of the system can be configured to detect the collision or impending collision (e.g., through kinematics). Accordingly, the robotic system 200 can control one or both of the robotic arms 210 to adjust their respective joints within null space to avoid the collision or impending collision. In an embodiment involving a pair of robotic arms, the base of one of the robotic arms and its end effector can maintain its pose, while the links or joints in between move in null space to avoid collision with the adjacent robotic arm.

[0196] In certain embodiments, the robotic system 200 can use redundant joints in the robotic arms as the only null space DoF. When the robotic system 200 has only one DoF of null space motion, the null space can be a one-dimensional line through space. If the null space line causes one or more of the robotic arms 210 to pass through an invalid pose or to collide, the robotic system 200 can not be able to provide null space adjustment and collision avoidance for certain ADM poses and / or RCM positions.

[0197] C. Exemplary Movement of Robotic Arm and Underlying Bar

[0198] FIGS. 24A-24F An example movement of a robotic arm 210 and its underlying pole 220 is shown, in accordance with some embodiments.

[0199] According to some embodiments of the present disclosure, the underlying pole 220 of a robotic arm 210 can automatically move while a user is manipulating the robotic arm 210 (e.g., in a manual manipulation mode). The ability to cause automatic pole translation during arm manipulation advantageously makes setup procedures (and / or adjustments to system settings) easier and faster for the operator.

[0200] FIG. 24AAn initial position 440 of the robotic arm 210 on the bar 220 is shown. The bar 220 includes a first end 420 located near a leg of the patient support platform 202 and a second end 430 located near a head of the patient support platform 202. In this example, the robotic arm 210 is translated along the length of the bar 220 toward the second end 430 (e.g., along the negative y-direction). In some embodiments, the translation of the robotic arm 210 along the bar 220 is facilitated by a prismatic joint or base joint (e.g., base joint 304-1) of the robotic arm 210-1. FIG. 24A An initial position 406 relative to the robotic system 200 (e.g., relative to the base 206 of the robotic system, FIG. 21 and FIG. 22 ) or relative to the patient support platform 202 (e.g., represented by the initial position of the first end 420 of the bar 220) is also shown.

[0201] In some embodiments, there are two limits to consider for the translation of the robotic arm along the bar: a cutoff limit 402 (e.g., a cutoff position) and a joint limit 404 (e.g., an A0 joint limit). The cutoff limit 402 is a limit that occurs at or before the joint limit 404. In FIG. 24A , as the robotic arm 210 is translated along the bar 220 toward the head, the robotic arm 210 will encounter the cutoff limit 402 before the joint limit 404.

[0202] In some embodiments, the joint limit 404 is a limit of how far the base joint (e.g., base joint or A0 joint 304-1) of the robotic arm 210 can be translated along the bar 220. In some embodiments, a haptic wall (e.g., a virtual wall) is placed at the joint limit 404 such that the user cannot manually move the robotic arm 210 to reach the joint limit 404. In some embodiments, the cutoff limit 402 can be considered a “soft” limit, while the joint limit 404 can be considered a “hard” limit. For example, in some embodiments, the cutoff limit 402 can be located 10-25 mm (e.g., about 25 mm in one embodiment) from an end of the bar 220 (e.g., the head end), while the joint limit 404 can be located 5-12 mm (e.g., about 10 mm in one embodiment) from the head end of the bar 220.

[0203] FIG. 24B An entry into the cutoff limit 402 as the robotic arm 210 is translated along the bar 220 toward the second end 430 is shown.

[0204] In some embodiments, the automatic movement of the bar 220 is triggered when the robotic arm 210 is held at the cutoff limit 402 for a certain preset time (e.g., 2 seconds, 3 seconds, 5 seconds, etc.). For example, if the robotic arm 210 is held within the cutoff limit 402 for at least the preset amount of time, the automatic bar translation will be activated. In some embodiments, the preset amount of time is dynamically adjusted by the medical system based on characteristics of the movement of the robotic arm (e.g., velocity, acceleration, distance, etc.) or characteristics of sensor inputs detected on the robotic arm that is being moved into the cutoff limit (e.g., force, torque, position, etc.). In some embodiments, the preset amount of time is user configurable. In some embodiments, the automatic movement of the bar 220 is triggered according to the cutoff limit 402 being crossed by the first robotic arm, optionally without a time requirement.

[0205] FIG. 24C The activation of the automatic bar translation after the robotic arm 210 is held at the cutoff position for the preset amount of time is shown. In this example, the bar 220 is displaced a distance (408) from its initial position 406 and moved relative to the patient support platform 202 or the base 206 of the robotic system 200. The robotic arm 210 is translated in the same direction as the bar translation along with the bar 220. During the bar (and arm) translation, the robotic arm 210 is still held at the cutoff position 402. In some embodiments, and as shown, the bar translation is in the same direction as the robotic arm translation. In other embodiments, the bar 220 can move in the opposite direction of the robotic arm translation (e.g., the bar 220 moves towards the legs and the robotic arm 210 moves towards the head, or vice versa), or the bar 220 can move in both directions. In some embodiments, the bar 220 will initially start moving in the direction of the joint limit 404 at a constant velocity. In some embodiments, to maintain the automatic movement of the bar 220, the user will need to apply a continuous force to the robotic arm 210 in impedance or admittance mode. In some embodiments, while the robotic arm 210 is at or beyond the cutoff limit 402 (e.g., no continuous force needs to be maintained on the robotic arm, or no movement of the robotic arm relative to the bar, etc.), the bar 220 will remain translated in the initial direction until the bar 220 reaches its translation limit (e.g., when the bar reaches the D7 limit). FIG. 24C

[0206] FIGS. 24D-24F Another example scenario of arm and bar translation is shown.

[0207] FIG. 24D ​An initial position 450 of the robotic arm on the bar 220 is shown. The bar 220 has an initial position 460 relative to the base 206 of the robotic system 200 or relative to the patient support platform 202. The robotic arm 210 is translated along the bar 220 toward the first end 420 of the bar. In this example, the robotic arm 210 will encounter the stop limit 410 before the joint limit 412.

[0208] FIG. 24E An entry into the stop limit 410 is shown as the robotic arm 210 is translated along the bar 220 under manual manipulation toward the first end 420.

[0209] FIG. 24F An automatic bar translation is shown after the robotic arm 210 is held at a position at or beyond the stop limit 410 for at least a preset amount of time (e.g., 2 seconds, 3 seconds, or 5 seconds). In this example, the bar 220 is displaced from its initial position 460 (e.g., as represented by the initial position of the second end 430 of the bar) relative to the patient support platform 202 by a distance (416). The bar 220 and the robotic arm 210 are moved in the same direction (e.g., toward the leg) and the robotic arm 210 is held at or beyond the stop limit 410 during the bar and arm translation.

[0210] FIGS. 24A-24F The example of FIG. 22 shows one robotic arm 210 on the bar 220. In some embodiments, the robotic arm 210 is one of a plurality of robotic arms on the bar 220 (e.g., as shown in FIG. 21 and FIG. 22 In some embodiments, the robotic arm 210 in FIGS. 24A-24F represents one of a plurality of robotic arms on the bar and at an end of the bar 220. For example, the robotic arm 210 in FIGS. 24A-24C may represent the robotic arm 210-3 or the robotic arm 210-6 in FIG. 22 may represent the robotic arm 210 in FIGS. 24D-24F may represent the robotic arm 210-1 or the robotic arm 210-4 in FIG. 22 .

[0211] D. Exemplary Process for Automated Bar Translation

[0212] FIG. 25A and FIG. 25B is a flowchart 500 for automatic bar translation according to some embodiments. In some embodiments, the steps in the flowchart 500 are performed by one or more processors of a robotic medical system (e.g., the robotic system 200 as shown in FIG. 21 , FIG. 22 , FIG. 26, and FIG. 27). For example, the one or more processors of the robotic system 200 can perform the steps in the flowchart 500. FIG. 20(In the middle) it executes according to the instructions stored in the memory of the robotic medical system.

[0213] In some implementations, the processor reads the robotic arm (e.g., an active robotic arm, such as...) FIG. 21 , FIG. 22 Data (502) of the robot arm 210 in Figures 23, 24, 26, and 27. The robot arm is movably coupled to a lever (e.g., FIG. 21 , FIG. 22 (Link 220 in Figures 24, 26, and 27). Based on the data, the processor determines (504) whether the robot arm is in admittance zero space or impedance mode (e.g., manual manipulation mode). Based on the determination that the robot arm is in admittance zero space and / or impedance mode (505), the processor determines (e.g., checks) the position of the robot arm along the base joint of the link (e.g., the position of the base joint or A0 joint 304-1) (506). The processor also uses tactile data from the joint constraint (e.g., FIG. 24A The connector in the 404 or FIG. 24D The joint limit 412) calculation (506) cutoff (e.g., FIG. 24A The cutoff limit 402 or FIG. 24D (Cutoff limit 410). The processor also determines whether the robotic arm is within the cutoff limit (508).

[0214] In some implementations, based on determining that the robot arm is within the cutoff limit (509), the processor initiates a time delay (510) (e.g., a 2-second, 3-second, 5-second, or user-defined time delay, etc.). After the time delay, the processor determines whether the robot arm is still within the cutoff limit (512). Based on determining that the robot arm is no longer within the cutoff limit after the time delay (519), the processor stops the lever movement and the corresponding lever movement of other robot arms (522). Based on determining that the robot arm is still within the cutoff limit after the time delay (513), the processor starts (or continues) the lever translation algorithm (514), whereby the robot arm has exceeded the arm joint limit (e.g., ...). FIG. 24A The connector in the 404 or FIG. 24D The lever (518) is automatically moved in the direction of the joint limit 412 in the middle, and / or one or more other arms (e.g., non-active arms) on the lever are automatically moved (516).

[0215] Steps 516, 518, and regarding the movement of one or more other arms on the lever FIG. 25B The details of the steps will be discussed with respect to the various implementation schemes shown in Figures 26 and 27.

[0216] In some embodiments, during execution of the bar auto-translation algorithm (e.g., execution of steps 516 and 518), the processor can determine (e.g., obtain updates to) whether the bar has reached its translation limit (e.g., D7 translation) (520), for example, continuously or on a periodic basis, such as every 10, 15, or 20 seconds, etc. In some embodiments, in accordance with a determination that the bar has reached its translation limit (521), the processor will stop any bar and arm motion (522). In some embodiments, in accordance with a determination that the bar has not reached its translation limit (523), the processor determines whether the robot arm (e.g., the active robot arm) is in null-space or impedance mode (e.g., manual manipulation mode) (524). In some embodiments, in accordance with a determination that the robot arm is not in null-space or impedance mode (517), the processor will stop the automatic bar motion and the automatic arm motion of other robot arms (522). In accordance with a determination that the active arm is still in null-space or in impedance mode (515), the processor determines whether the robot arm is still within the cutoff limit (512), and if so (513), the processor continues to execute the bar translation algorithm (513). In some embodiments, in accordance with a determination that the robot arm is no longer within the cutoff limit (519), the processor will stop the automatic bar motion and the automatic motion of other arms (522).

[0217] In accordance with these principles, we now turn to various embodiments.

[0218] E. Exemplary Scenarios

[0219] FIGS. 26A-26E An exemplary sequence of arm and bar movement of the robotic system 200 is shown in accordance with some embodiments. For clarity, only the robot arms in the foreground (e.g., robot arms 210-1, 210-2, and 210-3) and their underlying bars 220-1 (e.g., adjustable arm supports) are shown.

[0220] FIG. 26AInitial positions of robotic arms (e.g., arms) 210-1, 210-2, and 210-3 on bar 220-1 are shown. Robotic arms 210-1, 210-2, and 210-3 are movably coupled to bar 220-1 (e.g., via respective base joints 304-1 coupling the robotic arms to the bar). Bar 220-1 includes a first end 601 and a second end 603. In this example, each of robotic arms 210-1, 210-2, and 210-3 is in an undocked position (e.g., respective cannula sensors do not detect a cannula, the arms are free to move without risk to patient safety or disruption of an established configuration, etc.). Robotic arm 210-1 is located at a distance E1 (604) from first end 601 of bar 220-1. Robotic arm 210-3 is located at a distance D1 (602) from second end 603 of bar 220-1. Wheel 208-1 is used as a reference point for base 206, and the distance between wheel 208-1 and bar 220-1 is B1 (605). FIG. 26A Reference locations 606 and 608 on patient support platform 202 are also identified, which will be used as markers in this example.

[0221] FIG. 26B Movement (e.g., translation) of robotic arm 210-3 (e.g., at base joint 304-1-3 of robotic arm 210-3) along bar 220-1 toward second end 603 (e.g., toward the head of patient support platform 202) is shown. In some embodiments, the movement of robotic arm 210-3 includes manual manipulation (e.g., in an impedance control mode, admittance control mode, or direct pushing or pulling by a user of robotic system 200, etc.). In some embodiments, the movement of robotic arm 210-3 includes motor- assisted movement. In some embodiments, and as shown in step 504 of FIG. 25A As shown in step 502 of

[0222] FIG. 26B It is also shown that, in accordance with the movement of robotic arm 210-3, the distance between robotic arm 210-3 and second end 603 of bar 220-1 decreases from D1 (602) to D2 (612). In some embodiments, and as shown in FIG. 26B Robotic arms 210-1 and 210-2 and bar 220-1 remain stationary (e.g., relative to base 206 or patient support platform 202) during the translation of robotic arm 210-3 along bar 220-1, in some embodiments, and as shown in step 506 of the distance between the reference location of wheel 208-1 (e.g., base 206) and the location of bar 220-1 (e.g., based on the location of first end 601) is B2 (607) during the translation of robotic arm 210-3 along bar 220-1.FIG. 26A and FIG. 26B Both are located at B1 (605).

[0223] In some embodiments, as the robotic arm 210-3 moves along the rod 220-1 toward one end (e.g., the second end 603), the robotic arm 210-3 enters or exceeds a cutoff region at or beyond a cutoff limit (e.g., cutoff limit 402). FIG. 24A ).exist FIG. 26B In the example, D2 (612) represents the cut-off region defined by the cut-off constraint from the second end 603 of the rod 220-1. In some embodiments, and as shown in Figure 24 and FIG. 25A As shown (e.g., steps 508, 512, and 513), if the robotic arm 210-3 is held within the cutoff area defined by the cutoff limit 612 for at least a preset time period (e.g., 2 seconds, 3 seconds, 5 seconds, a user-configured time period, a dynamically calculated time period, etc.), then the automatic translation of the lever 220-1 is activated (step 514). FIG. 25A ).

[0224] FIG. 26C The diagram illustrates the automatic translation of lever 220-1 relative to base 206 (e.g., via a processor of the robotic system 200) in response to the robotic arm 210-3 remaining at or beyond a cutoff limit (e.g., within the cutoff region D2) (612) for at least a preset time period. In this example, lever 220-1 automatically moves toward the head of the patient support platform (e.g., in the direction of the joint limit of the robotic arm 210-3). Depending on the lever translation, the distance between lever 220-1 and wheel 208-2 increases from B1 (605) to B2 (616). During the lever translation, the robotic arm 210-1 maintains its cutoff limit position (e.g., within D2 (612) relative to the second end 603 of lever 220-1). During the arm and lever translation, the patient support platform 202 remains stationary relative to base 206.

[0225] In some implementations, depending on the movement of lever 220-1, one or more other robotic arms (e.g., inactive robotic arms) can maintain their absolute positions relative to the base 206 of the robot system 200. For example, in FIG. 26C In this process, robot arm 210-1 (e.g., corresponding to base joint 304-1-1 of robot arm 210-1) and robot arm 210-2 (e.g., corresponding to base joint 304-1-2 of robot arm 210-2) do not move with rod 220-1, but maintain their absolute positions relative to base 206 and relative to the stationary patient support platform 202, such as FIG. 26C As shown (e.g., using reference positions 606, 608, and 610 on the patient support platform 202 as markers).

[0226] In some embodiments, FIG. 26C the non-movement of the inactive robot arms 210-1 and 210-2 (e.g., robot arms that are not in a manual manipulation mode, but can optionally undergo automatic motion due to execution of the bar auto-translation algorithm) in FIG. 26C corresponds to the bar auto-translation algorithm described in FIG. 25. In FIG. 25B the robot arms 210-1 and 210-2 are in an undocked position. This corresponds to FIG. 26C step 528 in FIG. 25B the robot arms 210-1 and 210-2 are not at the A0 joint limit. This corresponds to FIG. 25B step 532 in FIG. 25B Furthermore, movement of the robot arms 210-1 and 210-2 will not cause a collision (536, ). Thus, in this scenario, and in accordance with step 538 in

[0227] the processor will maintain the absolute position of the robot arm 210-1 (e.g., the base joint (e.g., A0 joint) 304-1-1 of the robot arm 210-1) relative to the base 206 of the robotic system 200. The processor will also maintain the absolute position of the robot arm 210-2 (e.g., the base joint (e.g., A0 joint) 304-1-2 of the robot arm 210-2) relative to the base 206 of the robotic system 200. In other words, the processor will cause the robot arms 210-1 and 210-2 to move in opposite directions of bar movement along their respective base joints 304-1-1 and 304-1-2, leaving them stationary relative to the base 206. FIG. 26C FIG. 26B FIG. 26C It is also shown that, in accordance with the translation of the bar 220-1, the distance between the robot arm 210-1 and the first end 601 decreases from E1 (604) in

[0228] to E2 (614) in FIG. 26D It is shown that the bar 220-1 continues to translate towards the head of the patient support platform 202. In accordance with the translation, the distance between the first end 601 of the bar 220-1 and the wheel 208-2 increases from B2 (616) to B3 (620). The distance between the robot arm 210-1 and the second end 603 of the bar 220-1 decreases from E2 (614) to E3 (618).

[0229] In some embodiments, as a result of the translation of the bar 220-1, the robot arm 210-1 reaches its joint limit (e.g., the A0 joint limit 412, FIG. 24D)(while robot arm 210-1 remains stationary relative to base 206). Assume that robot arm 210-1 reaches its joint limit at E3 (616) in FIG. 26D some embodiments, when a joint limit is reached on an inactive robot arm (such as robot arm 210-1 in FIG. 26D ), the processor will cause the inactive robot arm to move with the underlying bar (e.g., bar 220-1) in the same direction as the bar translation. This is described in steps 530, 540, and 544 in FIG. 25B .

[0230] FIG. 26E Further translation of bar 220-1 toward the head of patient support platform 202 is shown. In this example, because robot arm 210-1 has reached its joint limit E3 (618), robot arm 210-1 moves with bar 220-1 (e.g., at the same speed) in the same direction. This action corresponds to step 544 in FIG. 25B . In other words, in FIG. 26E (step 544), the processor causes robot arm 210-1 to "sit on" bar 220-1 and move with bar 220-1; the processor does not activate motion in arm 210-1 independently of the motion of bar 220-1. FIG. 26E It is also shown that as a result of the bar 220-1 translation, the distance between bar 220-1 and wheel 208-1 increases from B3 (620) to B4 (622).

[0231] In some embodiments, and as shown in FIG. 26E , as a result of the movement of bar 220-1 and robot arm 210-1, the other inactive robot arm (e.g., robot arm 210-2) maintains its absolute position relative to base 206 and relative to the stationary patient support platform 202. This corresponds to step 538 in FIG. 25B . Here, robot arm 210-2 is not at its A0 joint limit (step 530), and the motion of robot arm 210-1 (and of robot arm 210-3) will not cause a collision with robot arm 210-2 (step 536, FIG. 25B ).

[0232] In some embodiments, continued motion of bar 220-1 (e.g., automatic translation) will cause bar 220-1 to reach its limit with respect to bar translation (e.g., D7 limit) (step 521, FIG. 25A ). In this case, all automatic bar and arm motion will stop (step 522, FIG. 25A ).

[0233] In some embodiments, in accordance with continued movement of the bar 220-1 and the robotic arm 210-1, the robotic arm 210-1 can approach a collision with the robotic arm 210-2 (step 542, FIG. 25B ). In this case, the processor will cause both the robotic arm 210-2 and the robotic arm 210-1 to“sit on” the bar 220-1 and move with the bar 220-1 (step 544, FIG. 25B ) to avoid the collision.

[0234] FIGS. 27A-27D Another exemplary sequence of arm and bar movement of the robotic system 200 is shown in accordance with some embodiments.

[0235] In the example of FIG. 27, the robotic arms 210-1, 210-2, and 210-3 are supported by the underlying bar 220-1. The bar 220-1 includes a first end 702 and a second end 704. The robotic arms 210-4, 210-5, and 210-6 are supported by the underlying bar 220-2. The bar 220-2 includes a first end 706 and a second end 708. The patient support platform 202 includes a first end 710 and a second end 712. The patient support platform 202 is stationary in this exemplary sequence. Thus, the first end 710, the second end 712, the dashed lines on the patient support platform 202, and the various positions of the patient support platform can be used as reference markers in the description herein. The initial distance between the second end 704 of the bar 220-1 and the second end 712 of the patient support platform 202 is HI (714). The initial distance between the first end 706 of the bar 220-2 and the first end 710 of the patient support platform 202 is Jl (716).

[0236] In some embodiments, the robotic arms include robotic arms in a docked position and robotic arms in an undocked position. In FIG. 27, the robotic arms 210-2 and 210-6 are in a docked position (e.g., due to the presence of an instrument 212 in these arms, which is detected by the respective cannula sensor 310 of the robotic arm). The robotic arms 210-1, 210-3, 210-4, and 210-5 are in an undocked position.

[0237] FIG. 27A The robotic arm 210-1 is shown at or beyond the cutoff limit of the bar 220-1 (e.g., the cutoff limit 402, FIG. 24B ). The robotic arm 210-4 is at or beyond the cutoff limit of the bar 220-2 (e.g., the cutoff limit 410, FIG. 24E ). In some embodiments, and as previously described with respect to FIG. 25AAs discussed in Figure 26, in response to the robot arm being held at or beyond the cutoff limit for at least a preset time period, the processor of the robot system 200 initiates the automatic translation algorithm of the lever according to the instructions stored in the memory of the robot system 200 (step 514). FIG. 25A ).

[0238] FIG. 27B The diagram illustrates the automatic translation of lever 220-1 in response to the robotic arm 210-3 being held at a cutoff limit for a predefined time period. In this example, lever 220-1 translates in the negative y-direction (e.g., toward the head of the patient support platform 202). Depending on the translation of lever 220-1, the distance between the second end 704 of lever 220-1 and the second end 712 of the patient support platform 202 decreases from H1 (714) to H2 (724).

[0239] In some implementations, one or more other robotic arms (e.g., robotic arm 210-1 and robotic arm 210-2) movably coupled to rod 220-1 may also move in accordance with the movement of rod 220-1.

[0240] exist FIG. 27A and FIG. 27B In the example, robot arm 210-1 is in an un-docked position. In some implementations, and as... FIG. 25B As shown, it is determined that the robot arm 210-1 is in an un-docked position (step 528). FIG. 25B The processor determines whether the robot arm 210-1 is within its A0 joint constraint (step 530). In some embodiments, based on the determination that the robot arm 210-1 is within its A0 joint constraint (step 540), the processor will not move the robot arm 210-1 (step 544). In other words, the processor will make the robot arm 210-1 "sit" on the lever 220-1 and move it with the lever (step 544). This situation has also been described before. FIG. 26E As described in the text.

[0241] In some implementations, based on the determination that the robotic arm 210-1 is not at its A0 joint constraint (step 532), FIG. 25B), the processor determines whether movement of the robotic arm 210-1 will cause a collision (e.g., with another robotic arm, with other objects in the physical space, etc.) (step 534). In accordance with a determination that movement of the robotic arm 210-1 will cause a collision (step 542), the processor will not move the robotic arm 210-1, but rather direct the robotic arm 210-1 to“sit” on the bar 220-1 and move with the bar 220-1 (e.g., in the same direction (e.g., and at the same speed) as the bar movement 220-1). In accordance with a determination that movement of the robotic arm 210-1 will not cause a collision (step 536), the processor will maintain the absolute position of the robotic arm 210-1 relative to the base 206 of the robotic system 200 (step 538). In other words, the processor will move the robotic arm 210-1 in the opposite direction of the bar 220-1 translation (e.g., at the same speed as the bar 220-1 movement but in the opposite direction) (e.g., along its base joint).

[0242] In FIG. 27A and FIG. 27B In the example of FIG. 6, the robotic arm 210-2 is in a docking position. Again with reference to FIG. 25B In some embodiments, in accordance with a determination that the robotic arm 210-2 is in a docking position (step 546), the processor determines whether zero-space movement is possible for the robotic arm 210-2 (step 548). In accordance with a determination that zero-space movement is not possible (step 558) (e.g., due to the absence of additional degrees of freedom on the robotic arm, due to constraints based on collision avoidance and other requirements, etc.), the processor will stop the automated movement of the bar 220-1 (step 562). In accordance with a determination that zero-space movement is possible (step 550), the processor determines whether zero-space movement of the robotic arm 210-1 will cause a collision (step 552). In some embodiments, in accordance with a determination that zero-space movement of the robotic arm 210-1 will not cause a collision (step 554), the processor will move the robotic arm 210-1 via zero-space (e.g., using one or more redundant joints of the robotic arm 210-1) to maintain the remote center of motion (RCM) of the robotic arm 210-1 stationary relative to the patient support platform (step 556). In some embodiments, in accordance with a determination that zero-space movement of the robotic arm 210-1 will cause a collision (step 560), the processor will stop the automated movement of the bar 220-1 (step 562).

[0243] In FIG. 27AIn this context, it is possible to activate null space motion on the robotic arm 210-2 (e.g., due to the robotic arm 210-2 having one or more additional DoFs). Thus, the processor moves the robotic arm 210-2 via null space (e.g., using one or more redundant joints of the robotic arm 210-2) to maintain the remote central motion (RCM) of the robotic arm 210-1 and to maintain the position and / or orientation of the medical tool 212-1 (e.g., relative to the patient on the patient support platform 202).

[0244] From respectively FIG. 27A and FIG. 27B Extracted FIG. 27E (i) and FIG. 27E (ii) illustrates the change in pose of the robot arm 210-2 as it performs null-space motion to maintain its RCM. FIG. 27E (i) and FIG. 27E As shown in (ii), the robotic arm 210-2 moves one or more of the joints 304-2-2, 304-3-2 and 304-5-2 during zero-space movement, which in turn enables a change in the position and / or orientation of one or more links (e.g., links 302-2-2, 302-3-2 and 302-4-2) to maintain the position and / or orientation of the medical tool 212-1.

[0245] FIG. 27B The diagram also illustrates the automatic movement of lever 220-2 in response to the robotic arm 210-4 being held at or beyond a cutoff limit (e.g., cutoff limit 410) for at least a preset time period. In this example, lever 220-2 translates along the positive y-direction toward the legs of the patient support platform 402. Depending on the translation of lever 220-2, the distance between the first end 706 of lever 220-2 and the first end 710 of the patient support platform 202 decreases from J1 (716) to J2 (720).

[0246] In some embodiments, one or more other robotic arms (e.g., robotic arms 210-5 and 210-6) movably coupled to lever 220-2 may also move automatically in response to the automatic movement of lever 220-2. In some embodiments, the processor determines whether and / or how to move other robotic arms based on the docking state (e.g., docking position) of the arms. This process has been described above with respect to robotic arm 210-1 and referenced in [reference]. FIG. 25B The description will be repeated for the sake of brevity.

[0247] exist FIGS. 27A-27FIn the example of FIG. 21, robotic arm 210-6 is in a docked state (e.g., a docked position). It is possible to activate zero-space motion on robotic arm 210-6 (e.g., due to one or more extra degrees of freedom of robotic arm 210-6). Moreover, movement of robotic arm 210-6 will not cause a collision (e.g., with other robotic arms and / or instruments).

[0248] Referring to FIG. 27A and FIG. 27B A comparison between these figures (using line 718 drawn across base joint 304-1-6 of robotic arm 210-6 as a reference) shows that base joint 304-1-6 of robotic arm 210-6 has moved (e.g., in the positive y direction) relative to stationary patient support platform 202.

[0249] In some embodiments, and as shown in FIG. 27B due to the extra degrees of freedom on robotic arm 210-6 from one or more redundant joints (e.g., one or more of joints 304-2, 304-3, 304-4, and 304-5 in FIG. 23A , movement of base joint 304-1-6 does not cause movement of the ADM and / or RCM of robotic arm 210-6, which enables robotic arm 210-6 to move in zero-space to both maintain the pose of the ADM and the position of the RCM and also avoid collisions with other robotic arms or objects, thereby maintaining the position and / or orientation of medical tool 212-2.

[0250] FIG. 27F (i) and FIG. 27F (ii) show the change in pose of robotic arm 210-6 as it performs zero-space motion to maintain its RCM. In some embodiments, due to the movement of base joint 304-1-6 in the positive y direction, robotic arm 210-6 can rotate one or more joints (e.g., one or more redundant joints, such as joints 304-2-6 and / or elbow joint 304-3-6), which in turn changes the position and / or orientation of links 302-2-6, 302-3-6, and / or 302-4-6 in order to maintain the position and / or orientation of instrument 212-2. Thus, robotic system 200 is able to maintain the pose of ADM 308 of robotic arm 210-6 and medical tool 212-2 even when there is movement (e.g., via shared DoF) between robotic arm 210-6, base joint 304-1-6, and bar 220-2.

[0251] FIG. 27B It is also shown that robotic arm 210-5 is in an undocked state. Robotic arm 210-5 is also not at its A0 joint limit (e.g., base joint limit). This case corresponds to FIG. 25BStep 532. In some embodiments, in accordance with a determination that the robot arm 210-5 is not at its A0 joint limit, the processor of the robotic system 200 determines whether movement of the robot arm 210-5 will cause a collision (Step 534). In this example, because the base joint 304-1-6 of the robot arm 210-6 is moving toward the robot arm 210-5, keeping the robot arm 210-5 stationary relative to the base 206 of the robotic system 200 can result in a collision between the robot arm 210-5 and the robot arm 210-6 (Step 542). Thus, in this scenario, the robot arm 210-5 is“sitting” on (e.g., coupled to) the bar 220-2 and moving with the bar 220-2 (e.g., in the same direction) in order to minimize the likelihood of a collision with the robot arm 210-6 (544).

[0252] The comparison between the line 722 drawn across the base joint 304-1-5 of the robot arm 210-5 and the bar 220-2 shows movement of the robot arm 210-5 in the same direction as the bar 220-2. In some embodiments, the robot arm 210-5 and the bar 220-2 move collectively (e.g., at the same speed and direction). In some embodiments, the robot arm 210-5 can move in the same direction as the bar 220-2 but at a different speed (e.g., faster or slower). In some embodiments, the processor can also adjust the speed of the robot arm 210-5 such that the robot arm 210-5 moves and does not collide with adjacent robot arms and / or tools 212. FIG. 27A FIG. 27B The comparison between the line 722 drawn across the base joint 304-1-5 of the robot arm 210-5 and the bar 220-2 shows movement of the robot arm 210-5 in the same direction as the bar 220-2. In some embodiments, the robot arm 210-5 and the bar 220-2 move collectively (e.g., at the same speed and direction). In some embodiments, the robot arm 210-5 can move in the same direction as the bar 220-2 but at a different speed (e.g., faster or slower). In some embodiments, the processor can also adjust the speed of the robot arm 210-5 such that the robot arm 210-5 moves and does not collide with adjacent robot arms and / or tools 212.

[0253] FIG. 27C Further translation of the bar 220-1 in the negative y direction (e.g., toward the head) is shown. In some embodiments, and as discussed above with respect to FIG. 25A , continued translation of the bar 220-1 is in accordance with a determination (e.g., by the processor) that the bar 220-1 has not reached its translation limit (e.g., D7 translation) (Step 523, FIG. 25A ) and in accordance with a determination that the robot arm 210-3 is in a manual manipulation mode (e.g., null-space or impedance mode) (Step 515, FIG. 25A ). In accordance with the movement of the bar 220-1, the distance between the second end 704 of the bar 220-1 and the second end 712 of the patient support platform 202 decreases from H2 (724) in FIG. 27B to H3 (728) in FIG. 27C .

[0254] In the example of FIG. 27C , the robot arm 210-1 has reached the A0 joint limit (Step 540, FIG. 25B ​). Thus, robotic arm 210-1 moves in the same direction (e.g., at the same speed) as rod 220-1 (step 544, FIG. 25B ). Robotic arm 210-2 continues its motion via null-space to maintain the position / orientation of tool 212-1.

[0255] FIG. 27C Further translation of rod 220-2 in the positive y-direction (e.g., toward the leg of patient support platform 202) is also shown. In some embodiments, the translation of rod 220-1 is in accordance with a determination that rod 220-2 has not yet reached its D7 limit (step 523), robotic arm 210-6 is in null-space or impedance mode (step 515), and robotic arm 210-6 is still within the cutoff limit (step 513), as previously discussed with respect to FIG. 25A .

[0256] FIG. 27C Continued translation of robotic arm 210-5 (e.g., base joint 304-1-5) and robotic arm 210-6 (e.g., base joint 304-1-6) in the same direction as rod 220-2 is also shown. Robotic arm 210-6 continues to move in null-space to maintain the position / orientation of medical tool 212-2 (e.g., by moving joint 304-3-6 and / or joint 304-5-6). FIG. 27F (iii) showing that the null-space motion in this case includes movement in joint 304-3-6 and / or joint 304-5-6 to cause tilting of the link between these joints in the downward direction.

[0257] FIG. 27D Further translation of rod 220-1 from FIG. 27C is shown. In this example, the continued movement of robotic arm 210-1 with rod 220-1 and the continued movement of robotic arm 210-2 in null-space can cause a collision between arm 210-1 and arm 210-2 (e.g., tool 212-1), as shown by the shaded portion in FIG. 27D In some embodiments, in accordance with a determination that the arm motion will cause a collision, the processor stops the rod motion (step 562, FIG. 25B ).

[0258] In some embodiments, the continued translation of rod 220-2 in the positive y-direction can cause rod 220-2 to reach its translation limit (e.g., D7 limit) (step 521, FIG. 25A In this case, the processor will stop the movement of rod 220-2 and robotic arms 210-4, 210-5, and 210-6 (step 522, FIG. 25A ).

[0259] FIG. 27EThe corresponding pose of the robotic arm 210-2 during zero-space movement is shown, such that the RCM maintains its position and maintains the orientation and / or position of the instrument 212-1.

[0260] FIG. 27F The corresponding pose of the robotic arm 210-6 during zero-space movement is shown, such that the RCM maintains its position and maintains the orientation and / or position of the instrument 212-1.

[0261] F. Exemplary methods of controlling motion of a kinematic chain

[0262] FIG. 28A and FIG. 28B A flowchart of method 800 according to some embodiments is shown. In some embodiments, method 800 is executed by one or more processors of a robotic system.

[0263] In one aspect of the invention, the robot system includes a first kinematic chain controlled by the robot. For example, the first kinematic chain is a first robotic arm (e.g., FIG. 26A Robotic arm 210-3 in FIG. 27A The robotic arm 210-3, or FIG. 27A The robotic arm 210-4 in the example. In some implementations, the robotic system (e.g., such as...) FIG. 21 , FIG. 22 The robotic system 200 shown in Figures 26 and 27 is a robotic surgical system, and the first kinematic chain includes a robotic arm (e.g., robotic arm 210-2 holding surgical instrument 212-1) configured to hold surgical instruments (e.g., endoscopes and / or instruments) during surgery. FIG. 27A ).

[0264] The robotic system also includes a robot-controlled second kinematic chain, which is movably coupled to the first kinematic chain. For example, the second kinematic chain is coupled to the first robotic arm (e.g., robotic arm 210-3) and one or more other robotic arms (e.g., FIG. 27A The levers (e.g., lever 220-1) of the robot arms 210-1 and 210-2 in the robot arm system FIG. 27A ).

[0265] The robot system 200 also includes a controller (e.g., FIG. 19 The controller 182, another controller used by the robotic medical system 200, a combination of multiple controllers, etc., can be communicatively connected to the first and second motion chains.

[0266] The controller 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 obtain data corresponding to the first kinematic chain (802). For example, the data corresponding to the first kinematic chain can include forces, torques, and / or momentum corresponding to the first kinematic chain. The data can also include a position of the first kinematic chain, or a distance traveled by the first kinematic chain. For example, in FIG. 26A and FIG. 26B the processors obtain data corresponding to the robotic arm 210-3, including a starting position and / or a distance traveled by the robotic arm 210-3 along the bar 220-1. The processors can also obtain force, torque, and / or momentum data corresponding to the first kinematic chain 210-3.

[0267] In some embodiments, obtaining data corresponding to the first kinematic chain includes obtaining data while the first kinematic chain is in a manual manipulation mode (804). In some embodiments, the manual manipulation mode is a pure manual manipulation mode. The manual manipulation mode can also include a power-assisted manual manipulation mode, such as an impedance control mode or an admittance control mode. The manual manipulation mode can also include powered motion controlled by user input specifically directed to the first kinematic chain via a control device (e.g., a button, a joystick, etc.).

[0268] In some embodiments, the instructions, when executed by the one or more processors, further cause the processors to control movement of a second kinematic chain as a function of the data corresponding to the first kinematic chain (806). In some embodiments, controlling movement of the second kinematic chain can include initiating and / or stopping an automatic translational movement of the second kinematic chain. For example, in FIG. 26C controlling movement of the second kinematic chain (e.g., the bar 220-1) can include initiating an automatic translational movement of the bar 220-1. For example, in FIG. 27D controlling movement of the second kinematic chain (e.g., the bar 220-1 or the bar 220-2) can include stopping an automatic translational movement of the bar 220-1 or the bar 220-2. In some embodiments, the processors can initiate movement for purposes other than avoiding or resolving deformation and / or impact from the first kinematic chain.

[0269] In some embodiments, controlling movement of the second kinematic chain as a function of the data corresponding to the first kinematic chain includes automatically moving the second kinematic chain as a function of a determination that the data corresponding to the first kinematic chain satisfies a preset criterion (808). In some embodiments, automatically moving the second kinematic chain includes using one or more motors to cause the automatic movement. In some embodiments, the processors automatically move the second kinematic chain as a function of a determination that a current position of a base joint of the first kinematic chain exceeds a cutoff position along the second kinematic chain by a threshold amount of time. For example, in FIG. 27BIn some embodiments, the processor automatically moves the bar according to a determination that the current position of the base joint of the arm 210-4 along the bar 220-2 exceeds the cutoff position by more than a threshold amount of time. As another example, in FIG. 27B In some embodiments, the processor automatically moves the bar according to a determination that the current position of the base joint of the arm 220-3 along the bar 210-2 exceeds the cutoff position by more than a threshold amount of time. This is also illustrated in the bar automatic translation algorithm (step 514) in FIG. 25A In some embodiments, the processor automatically moves the second kinematic chain according to a determination that the current in the first kinematic chain exceeds a threshold current. In some embodiments, the processor automatically moves the second kinematic chain according to a determination that the velocity of a preset portion of the first kinematic chain exceeds a threshold velocity and / or the force on a joint (e.g., a joint of a robot arm other than the base joint on the bar) in the first kinematic chain is above a threshold force.

[0270] In some embodiments, controlling movement of the second kinematic chain includes controlling translational movement of the second kinematic chain relative to a base of the robotic system (810). For example, in FIG. 27C In some embodiments, controlling movement of the bar 220-2 includes controlling translational movement of the bar 220-2 relative to a base 206 of the robotic system 200 (810). In some embodiments, the translational movement of the second kinematic chain can include starting the translational movement of the second kinematic chain, stopping the translational movement of the second kinematic chain, and / or controlling a distance traveled by the second kinematic chain.

[0271] In some embodiments, the first kinematic chain includes a first robot arm. For example, the first kinematic chain can include a first arm (e.g., robot arm 210-1 in FIG. 27), a last arm (e.g., robot arm 210-6 in FIG. 27), or an arm other than the first arm or the last arm (e.g., any of robot arms 210-2 to 210-5 in FIG. 27). In some embodiments, the second kinematic chain includes a bar (e.g., bar 220-1 or bar 220-2, FIG. 27) that supports the first robot arm.

[0272] In some embodiments, the first robot arm includes a base joint (e.g., base joint 304-1, FIG. 23) that is coupled to the bar and is capable of translating along the bar. For example, when the first robot arm is pushed along the bar while the bar is held stationary relative to a base of the robotic system, the base joint exerts a negligible amount of force in the direction along the bar before reaching a joint limit.

[0273] In some embodiments, the translation of the first robotic arm along the rod is constrained by a first constraint along the rod. For example, the translation of the first robotic arm includes the translation of the base joint of the first robotic arm (e.g., base joint 304-1, FIG. 23) along the rod. In some embodiments, the first constraint is a base joint constraint near the end of the rod (e.g., FIG. 24A The connector in the 404 or FIG. 24D (Connection restriction 412). In some embodiments, the first restriction is a tactile wall along the rod for the first robotic arm.

[0274] In some implementations, the first limitation includes a tactile wall that limits the extent of manual translation of the first robotic arm along the bar. For example, manual translation includes a user pushing directly on the first robotic arm and / or moving the first robotic arm using buttons or controls.

[0275] In some implementations, the automatic movement of the lever is triggered when the first robotic arm exceeds a cutoff limit. In other cases, the automatic movement of the lever is triggered when the first robotic arm remains within the cutoff for a specific period of time (e.g., step 512). FIG. 25A In some implementations, the cutoff limit may include a position threshold that precedes the base joint limit or haptic wall of the first robotic arm along a first direction of movement of the lever. For example, in FIG. 24A In this context, the cutoff limit 402 includes a position threshold prior to the base joint limit 404. The cutoff limit may also include another type of threshold based on speed, current, force, etc.

[0276] In some embodiments, the data corresponding to the first kinematic chain includes the distance traveled by the first robotic arm along the lever. For example, the distance traveled by the first robotic arm includes the distance traveled by the base joint of the first robotic arm. In some embodiments, the distance traveled by the first robotic arm is used to calculate the current position of the first robotic arm along the lever; and the current position of the first robotic arm is used to determine whether a cutoff limit has been reached or exceeded.

[0277] In some embodiments, the data corresponding to the first kinematic chain includes the direction of movement of the first robot arm along the lever. In some embodiments, the direction of movement of the first robot arm includes the direction of movement of the base joint of the first robot arm along the lever. Controlling the movement of the second kinematic chain includes moving the lever (812) relative to the base of the robot system in the direction of movement of the first robot arm. For example, the first robot arm and the lever may move in the same direction relative to the base of the robot system (e.g., at the same speed, at different speeds, etc.). For example, in FIG. 26AIn some embodiments, the data corresponding to the robot arm 210-3 includes a direction of movement of the robot arm 210-3 along the bar 220-1 (e.g., toward the second end 603). Controlling movement of the second kinematic chain (e.g., the bar 220) includes moving the bar 220 relative to the base 206 of the robotic system 200 in the direction of movement of the first robot arm 210-3 (e.g., in the negative y direction).

[0278] In some embodiments, the robotic system 200 further includes a robotically controlled third kinematic chain movably coupled to the second kinematic chain. For example, the third kinematic chain can be a second robot arm or a third robot arm, such as the robot arms 210-1, 210-2, 210-5, or 210-6 in FIG. 27.

[0279] In some embodiments, both the first kinematic chain and the third kinematic chain are capable of translating along the second kinematic chain while exerting a negligible amount of force on the second kinematic chain in a direction along the second kinematic chain, and vice versa. In some embodiments, the instructions, when executed by the one or more processors, cause the processors to control movement of the third kinematic chain as a function of movement of the second kinematic chain (814). For example, controlling movement of the third kinematic chain can include initiating and / or stopping an automated translational movement of the third kinematic chain. In some embodiments, the controlled movement of the third kinematic chain is as a function of movement of the second kinematic chain and as a function of movement of the first kinematic chain, e.g., to avoid collisions with the first kinematic chain, and / or to maximize a workspace, etc.

[0280] As shown in FIG. 27, in accordance with some embodiments, the robotic system 200 further includes a robotically controlled third kinematic chain (e.g., the robot arm 210-1) movably coupled to the second kinematic chain (e.g., the bar 220-1). In some embodiments, the instructions, when executed by the one or more processors, cause the processors to control movement of the robot arm 210-1 as a function of movement of the bar 220-1.

[0281] In some embodiments, the first kinematic chain includes a first robot arm. The third kinematic chain includes a second robot arm. The second kinematic chain includes a bar supporting the first robot arm and the second robot arm.

[0282] For example, in FIG. 27, in accordance with some embodiments, the first kinematic chain includes the first robot arm 210-4. In accordance with some embodiments, the third kinematic chain includes the second robot arm 210-5. In accordance with some embodiments, the second kinematic chain includes a bar 220-2 supporting the first robot arm 210-4 and the second robot arm 210-5.

[0283] In some embodiments, controlling movement of the third kinematic chain as a function of movement of the second kinematic chain includes maintaining a spatial relationship (816) between at least a portion of the third kinematic chain and the second kinematic chain (e.g., the bar) during movement of the second kinematic chain in accordance with a determination that a first movement criterion is satisfied. In some embodiments, the first movement criterion includes that the second robotic arm is not docked, has reached a joint limit or cutoff limit of the second robotic arm, the second robotic arm will not cause a collision, etc. The at least the portion of the third kinematic chain can include a base joint of the second robotic arm, the base joint of the second robotic arm and one or more additional portions, the second robotic arm as a whole, etc. In some embodiments, maintaining a spatial relationship between at least a portion of the third kinematic chain and the second kinematic chain during movement of the second kinematic chain includes moving the second robotic arm in the same direction as the bar during automatic translation of the bar.

[0284] For example, in some embodiments, as shown in FIGS. 6A-6B, the third kinematic chain includes a robotic arm 210-1 and the second kinematic chain includes a bar 220-1. In some cases, controlling movement of the robotic arm 210-1 as a function of movement of the bar 220-1 includes maintaining a spatial relationship (e.g., a distance E3 (618)) between at least a portion of the robotic arm 210-1 and the bar 220-1 during movement of the bar 220-1 in accordance with a determination that a first movement criterion is satisfied (e.g., the robotic arm 210-1 is not docked, has reached a joint limit of the bar 220-1, and / or movement of the robotic arm 210-1 will not cause a collision). FIG. 26D and FIG. 26E For example, in some embodiments, as shown in FIGS. 6A-6B, the third kinematic chain includes a robotic arm 210-1 and the second kinematic chain includes a bar 220-1. In some cases, controlling movement of the robotic arm 210-1 as a function of movement of the bar 220-1 includes maintaining a spatial relationship (e.g., a distance E3 (618)) between at least a portion of the robotic arm 210-1 and the bar 220-1 during movement of the bar 220-1 in accordance with a determination that a first movement criterion is satisfied (e.g., the robotic arm 210-1 is not docked, has reached a joint limit of the bar 220-1, and / or movement of the robotic arm 210-1 will not cause a collision).

[0285] In some embodiments, controlling movement of the third kinematic chain as a function of movement of the second kinematic chain includes moving at least a portion of the third kinematic chain relative to the second kinematic chain (e.g., the bar) during movement of the second kinematic chain in accordance with a determination that a second movement criterion is satisfied (818). In some embodiments, the second movement criterion includes that the second robotic arm is not docked, has not reached a joint limit or cutoff of the second robotic arm, will not cause a collision, etc. The at least the portion of the third kinematic chain can include a base joint of the second robotic arm, the base joint of the second robotic arm and one or more additional portions, the second robotic arm as a whole, etc. In some embodiments, the base joint of the second robotic arm does not move with the bar during automatic translation of the bar and maintains its absolute position relative to the base of the robotic system. In other words, the base joint of the second robotic arm moves in a direction opposite to the direction in which the bar moves. For example, as shown in the transition from FIG. 26B to FIG. 26C As shown in the transition from FIG. 6A to FIG. 6B, when the robotic arm 210-1 is in an undocked position and has not reached a joint limit, the robotic arm 210-1 stays put relative to the base 206 as the bar 220-1 moves. This is also discussed in FIG. 6C. FIG. 25B ​

[0286] In some embodiments, controlling the movement of the third kinematic chain based on the movement of the second kinematic chain includes: moving at least a first portion of the third kinematic chain relative to the second kinematic chain (e.g., a lever) during the movement of the second kinematic chain, based on a determination that a third movement criterion is met, while maintaining the position of the distal end portion of the third kinematic chain relative to the base of the robot system (820). In some embodiments, the third movement criterion includes: the second robot arm being docked, or zero-space movement being available for the second robot arm and zero-space movement not causing a collision, etc. The at least first portion of the third kinematic chain may include a base joint of the second robot arm, a base joint of the second robot arm, and one or more additional portions, etc. For example, one or more joints of the second robot arm (including the base joint) may move with or relative to the lever during lever translation to keep the remote motion center stationary relative to the base or table of the robot system.

[0287] For example, in some embodiments, as shown in Figure 27, the third kinematic chain includes a robotic arm 210-2, and the second kinematic chain includes a lever 220-1. Controlling the movement of the robotic arm 210-2 based on the movement of the lever 220-1 includes: determining the docking of the robotic arm 210-1 (step 546). FIG. 25B Zero-space motion can be used in robot arm 210-1 (step 548, FIG. 25B Furthermore, zero-space motion will not cause a collision (step 554). FIG. 25B During the movement of lever 220-1, at least a first portion of the robot arm 210-1 is moved relative to lever 220-1 while maintaining the position of the distal end portion of the robot arm 210-1 relative to the base 206 of the robot system 200 (e.g., to maintain the orientation and / or position of tool 212-1).

[0288] In some embodiments, controlling the movement of a second kinematic chain (e.g., a lever) based on the movement of a first kinematic chain (e.g., a first robotic arm) includes stopping the movement of the second kinematic chain based on determining that a fourth movement criterion is met (824). In some embodiments, the fourth movement criterion includes: the first arm is no longer in a cutoff zone, the lever movement limit has been reached, manual manipulation mode has ended, the second arm is docked but zero-space movement is unavailable, and / or the lever movement will cause a collision, etc. In some embodiments, when the lever movement stops, other movements triggered by the lever movement (e.g., movements of the second and third robotic arms, etc.) also stop.

[0289] For example, in some implementations, in FIG. 27D In step 562, the movement of the second kinematic chain (e.g., link 220-1) is stopped based on the determination that the movement of link 220-1 will cause a collision between robot arms 210-1 and 210-2. FIG. 25BAs another example, in FIG. 27D In step 521, the movement of rod 220-2 is stopped once it is determined that rod 220-2 has reached its translation limit. FIG. 25B ).

[0290] FIG. 29 A flowchart of method 900 according to some embodiments is shown. In some embodiments, method 900 is executed by one or more processors of robot system 200 (e.g., robotic medical system 200) according to instructions stored in the memory of robot system 200.

[0291] In some implementations, the robotic medical system 200 includes a patient support platform (e.g., patient support platform 202, such as...). FIG. 21 , FIG. 22 (As shown in Figures 26 and 27). In some implementations, the patient support platform includes a table, bed, etc.

[0292] The robotic medical system 200 includes a first kinematic chain. For example, according to some embodiments, the first kinematic chain is a first robotic arm (e.g., robotic arm 210-3 in Figure 26 or robotic arm 210-4 in Figure 27).

[0293] The robotic medical system also includes a second kinematic chain. For example, according to some embodiments, the second kinematic chain is a lever (e.g., lever 220-1 in Figure 26 or lever 220-2 in Figure 27), a second robotic arm (e.g., robotic arm 210-6 in Figure 27), etc.

[0294] The first kinematic chain is movably coupled to the second kinematic chain. For example, according to some embodiments, the first kinematic chain (e.g., robot arm 210-3 in FIG. 26) is movably coupled to the second kinematic chain (e.g., rod 220-1 in FIG. 26) via a base joint having one or more degrees of freedom (e.g., base joint 304-1 in FIG. 23).

[0295] The robotic medical system 200 includes a controller (e.g., FIG. 19controller 182, another controller used by the robotic medical system 200, a combination of multiple controllers, etc.). The controller 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 adjust a spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain (902). In some embodiments, the adjusting includes manual adjustment without powered assistance, powered assistance assisted adjustment (e.g., impedance control, admittance control, etc.). In some embodiments, the adjusting includes automatic adjustment in accordance with user instructions, etc. In some embodiments, the spatial configuration of the first kinematic chain includes positions and / or orientations of the joints and / or links of the first kinematic chain. In some embodiments, the user input directed to the first kinematic chain can include direct contact and / or force provided by the user on a link or joint of the first kinematic chain. The user input can also be through user activation of a user interface element of the control device that corresponds to the first kinematic chain, and / or through activation of a hardware control element on or attached to the first kinematic chain, etc.

[0296] In some embodiments, the first kinematic chain is movably coupled to the second kinematic chain via a base joint that is capable of translation along the second kinematic chain. Adjusting the spatial configuration of the first kinematic chain relative to the patient support platform (e.g., positions and / or orientations of the joints and / or links) includes translating at least the base joint of the first kinematic chain (e.g., a first robotic arm) along the second kinematic chain (e.g., a bar) (904). For example, this is shown in FIG. 26A to FIG. 26B

[0297] In some embodiments, adjusting the spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain includes, in a first powered-assist manipulation mode of the first kinematic chain, adjusting the spatial configuration of the first kinematic chain in accordance with direct physical manipulation of the first kinematic chain by the user (906). In some embodiments, the spatial configuration of the first kinematic chain includes positions and / or orientations of the joints and / or links of the first kinematic chain. In some embodiments, the direct physical manipulation of the first kinematic chain by the user can include the user physically moving, pushing, pulling, bending, twisting, etc. one or more joints and / or links of the first kinematic chain. The first powered-assist manipulation mode of the first kinematic chain can include an impedance mode or an admittance mode.

[0298] ​The memory also stores instructions that, when executed by the one or more processors, cause the processors to activate automatic movement of the second kinematic chain relative to the patient support platform in accordance with a determination that a preset criterion is satisfied during adjustment of the spatial configuration of the first kinematic chain in accordance with user input directed to the first kinematic chain (908). In some embodiments, determining that the preset criterion is satisfied includes determining that a cutoff limit is exceeded by a threshold amount of time. In some embodiments, determining that the preset criterion is satisfied includes determining that a force on the first kinematic chain exceeds a threshold force. In some embodiments, determining that the preset criterion is satisfied includes determining that a velocity of the first kinematic chain exceeds a threshold velocity. In some embodiments, the automatic movement of the second kinematic chain relative to the patient support platform includes automatic bar motion relative to the patient support platform. Optionally, in accordance with the automatic bar motion, the spatial configuration of the first kinematic chain can change relative to the patient support platform and / or relative to the second kinematic chain.

[0299] In some embodiments, activating the automatic movement of the second kinematic chain relative to the patient support platform includes automatically translating the second kinematic chain relative to the patient support platform (910).

[0300] In some embodiments, the first kinematic chain includes a first robotic arm. The second kinematic chain includes a bar that supports the first robotic arm. This is shown, for example, in FIGS. 26 and 27.

[0301] In some embodiments, the user input directed to the first kinematic chain is received via an input interface located on or proximate to the first kinematic chain. For example, the input interface can include a hardware button, a touch and / or force sensor, a graphical user interface on a control device, etc. In some embodiments, the input interface is separate from the second kinematic chain, not on or proximate to the second kinematic chain. In some embodiments, there is optionally another input interface for directly controlling bar motion, which is on or proximate to the bar, or on a separate device that is remote from the patient support platform.

[0302] In some embodiments, the user input directed to the first kinematic chain includes input received via a button (912). In some embodiments, the button is located on the first kinematic chain (e.g., on a side or top of a link of the first robotic arm) (e.g., button 312 or button 314, FIG. 23). The user activates (e.g., engages, holds, presses) the button to trigger and maintain manual manipulation. In some embodiments, the user input is received via a graphical user interface of a software program displayed on a control panel that is part of or in communication with the robotic medical system.

[0303] In some embodiments, the input received via the button is continuous user input (914). For example, the user presses (or presses and holds) a button on the first kinematic chain (e.g., button 312 or button 314, FIG. 23) to continuously trigger manual manipulation of the first kinematic chain. In some embodiments, the input received via the button is discrete user input (916). For example, the user presses (or presses and holds) a button on the first kinematic chain (e.g., button 312 or button 314, FIG. 23) to trigger manual manipulation of the first kinematic chain for a discrete amount of time. FIG. 23Bbutton 314 in FIG. 23) to enable continued manual manipulation. In some embodiments, the impedance can be activated by one press and deactivated by another press, rather than being continuously activated.

[0304] In some embodiments, the instructions, when executed by one or more processors, cause the processors to deactivate the automatic movement of the second kinematic chain relative to the patient support platform in accordance with a determination that continuous user input via the button detection is discontinued (916). In some embodiments, deactivating the automatic movement of the second kinematic chain includes stopping the automatic bar movement relative to the patient support platform. In some embodiments, the continuous user input is discontinued when the user discontinues holding and / or pressing the button (e.g., FIG. 23B button 314 in FIG. 23), for example, even if the user continues to push or pull a link or joint of the first kinematic chain, the continuous user input is discontinued.

[0305] In some embodiments, the preset criteria requires that a force detected on one or more preset portions of the first kinematic chain during adjustment of the spatial configuration of the first kinematic chain exceeds a preset threshold force to satisfy the preset criteria. For example, as described in FIG. 23, the robotic arm 210 can include one or more sensors. The force on one or more preset portions of the first kinematic chain (e.g., links 302 and / or joints 304) can be detected using contact sensors on the first robotic arm, via force and torque sensors on the joints of the first robotic arm, etc. In some embodiments, the preset threshold force can include a first force threshold that is greater than a nominal force / contact detection force threshold. In some embodiments, the adjustment of the spatial configuration of the first kinematic chain can include purely manual adjustment or power-assisted adjustment.

[0306] FIG. 30A to FIG. 30C is a flowchart of a method 1000 for setting up (1002) a robotic medical system (e.g., the robotic medical system 200 shown in FIGS. 26 and 27) in accordance with some embodiments. The method 1000 is performed by one or more processors of the robotic medical system 200 in accordance with some embodiments of the present disclosure. FIG. 21 、 FIG. 22 FIGS. 26 and 27. The method 1000 is performed by one or more processors of the robotic medical system 200 in accordance with some embodiments of the present disclosure.

[0307] The robotic medical system 200 includes (1004) a first kinematic chain. For example, in accordance with some embodiments, the first kinematic chain is a first robotic arm, such as the robotic arm 210-3 or the robotic arm 210-4 in FIG. 27. In some embodiments, in accordance with some embodiments, the robotic medical system 200 is a robotic surgical system, and the first kinematic chain includes a first robotic arm configured to hold a surgical tool (e.g., FIG. 21 and the tool 212 in FIG. 27) during a surgery.

[0308] The robotic medical system includes a second kinematic chain (1006). The second kinematic chain is movably coupled to the first kinematic chain (1008). In some embodiments, and as shown in FIG. 27, the second kinematic chain includes a bar or arm support (e.g., bar 220-1 or bar 220-2, FIG. 27) coupled to the first robotic arm and one or more other robotic arms, etc. According to some embodiments, the first kinematic chain (e.g., the first robotic arm) and the second kinematic chain are coupled by a joint (e.g., base joint 304-1, FIG. 23) having one or more degrees of freedom.

[0309] In some embodiments, the first kinematic chain includes a first robotic arm (1010). The second kinematic chain includes a bar supporting the first robotic arm (1012). For example, in FIG. 27, the first kinematic chain is robotic arm 210-3. According to some embodiments, the second kinematic chain includes a bar 220-1 supporting robotic arm 210-3.

[0310] The robotic medical system 200 obtains first data corresponding to a manual manipulation of the first kinematic chain (1014). The manual manipulation of the first kinematic chain causes movement of the first kinematic chain relative to the second kinematic chain (1016). For example, in FIG. 26, the robotic medical system 200 obtains first data corresponding to a manual manipulation of robotic arm 210-3. The manual manipulation of robotic arm 210-3 causes movement of robotic arm 210-3 relative to bar 220-1.

[0311] In some embodiments, the first data can include data corresponding to a force, a velocity, a distance of movement, etc. corresponding to the manual manipulation of the first kinematic chain. In some embodiments, the manual manipulation includes manipulation in a pure manual manipulation mode. In other embodiments, the manual manipulation can include a power-assisted manual manipulation mode, such as an impedance control mode, an admittance control mode, and / or a controlled motion performed in accordance with user input directed to the first kinematic chain that has been received by a control device (e.g., a button, a joystick, etc.).

[0312] In some embodiments, the movement of the first kinematic chain relative to the second kinematic chain can include a translational movement of a base joint (e.g., base joint 304-1) connecting the first kinematic chain and the second kinematic chain.

[0313] In some embodiments, the manual movement of the first kinematic chain along the second kinematic chain is constrained by a first limit along the second kinematic chain (1018). For example, the first kinematic chain is a first robotic arm. The manual movement of the first kinematic chain includes a translation of a base joint of the first robotic arm along a bar. According to some embodiments, the first limit is a base joint limit (e.g., joint limit 404 or FIG. 24A FIG. 24D ​a joint limit 412 in the robot arm 210-3, a tactile wall along the first robotic arm of the bar, etc.

[0314] In some embodiments, in accordance with a determination that the first data corresponding to the manual manipulation of the first kinematic chain satisfies a preset criterion, the robotic medical system 200 activates (1020) an automatic movement of the second kinematic chain relative to a physical environment of the robotic medical system 200, e.g., via one or more processors. For example, this is shown in FIG. 26C 、 FIG. 26D and FIG. 26E .

[0315] In some embodiments, the preset criterion is satisfied when the movement of the first kinematic chain (e.g., the robotic arm) causes the first kinematic chain to exceed a cutoff limit along the second kinematic chain (e.g., the bar) for a threshold amount of time (e.g., 2 seconds, 3 seconds, or 5 seconds), e.g., as described in the bar translation algorithm in FIG. 25A In some embodiments, the preset criterion is satisfied when a force on the first kinematic chain exceeds a threshold force, or when a velocity of the first kinematic chain exceeds a threshold velocity, etc. In some embodiments, the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system includes an automatic bar motion relative to the patient support platform. Optionally, in some embodiments, in accordance with the automatic movement of the second kinematic chain, the robotic medical system 200 further activates a motion of the first kinematic chain and / or changes a spatial configuration of the first kinematic chain relative to the patient support platform. In some embodiments, in accordance with the automatic movement of the second kinematic chain, the robotic medical system 200 further activates a motion of the first kinematic chain and / or changes a spatial configuration of the first kinematic chain relative to the second kinematic chain.

[0316] In some embodiments, the manual manipulation of the first kinematic chain causes a translational movement of the first kinematic chain along a length of the second kinematic chain (1022). In accordance with a determination that the translational movement of the first kinematic chain has exceeded a preset cutoff limit along the length of the second kinematic chain satisfies a preset criterion (1024). In some embodiments, the preset cutoff limit includes a position threshold along the bar before a base joint limit or a tactile wall.

[0317] For example, in FIG. 26A , the manual manipulation of the robotic arm 210-3 causes a translational movement of the robotic arm 210-3 along a length of the bar 220-1. In accordance with a determination that the translational movement of the robotic arm 210-3 has exceeded a preset cutoff limit along the length of the bar 220-1 (e.g., D2 (612)) satisfies a preset criterion.

[0318] In some embodiments, activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system includes initiating a translational movement of the second kinematic chain relative to a base of the robotic medical system (1026). For example, this is shown inFIG. 26C , FIG. 26D and FIG. 26E As shown in the figure. In some embodiments, initiating the translational movement of the second kinetic chain (e.g., lever 220-1 or 220-2) includes initiating and maintaining the translational movement of the lever in the direction of the translational movement of the first robotic arm under manual manipulation.

[0319] In some implementations, a preset criterion (1028) is met based on the determination that first data corresponding to the manual manipulation of the first kinetic chain has exceeded a preset cutoff limit for a threshold amount of time. For example, this is in FIG. 25A Step 510 is shown in the diagram.

[0320] As an example, the first data includes the translational movement of the first kinematic chain. A preset criterion is met based on determining that the translational movement has exceeded a preset cutoff limit along the length of the second kinematic chain (e.g., a position threshold along the rod before the base joint limit or tactile wall) for more than three seconds. As another example, the first data includes the force corresponding to manual manipulation of the first kinematic chain. A preset criterion is met based on determining that a force greater than a first force threshold has been held at a contact sensor on the link of the first kinematic chain for more than five seconds.

[0321] In some implementations, the threshold time is at least two seconds (1030). In some implementations, the threshold time can be adjusted (e.g., adjusted to 1 second, 5 seconds, a value between 1 and 5 seconds, etc.).

[0322] In some implementations, a preset standard requires that, in a first power-assisted control mode of the first kinematic chain, manual control of the first kinematic chain be performed based on direct physical control of the first kinematic chain by the user (1032). For example, direct physical control may include physical movement, pushing, pulling, bending, and / or twisting of one or more joints (e.g., joint 304, FIG. 23) and / or links (e.g., link 302, FIG. 23) of the first kinematic chain. The first power-assisted control mode may include an impedance mode or an admittance mode of the first kinematic chain.

[0323] In some embodiments, after activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system 200, the robotic medical system 200 (e.g., via one or more processors) receives updated first data (1034) corresponding to additional manual movements of the first kinematic chain. In some embodiments, activating the automatic movement of the second kinematic chain is based on determining that the first data meets preset criteria. According to some embodiments, the updated first data may include updated force, velocity, and / or distance traveled corresponding to the additional manual movements of the first kinematic chain.

[0324] In some implementations, if updated first data corresponding to the additional manual movement of the first kinematic chain does not meet a preset criterion, the robotic medical system 200 stops the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system (1036).

[0325] For example, such as FIG. 25A As shown, after the automatic translation algorithm of the lever begins, the processor obtains updated data, including whether the second kinematic chain (e.g., the lever) is within translation limits, and / or whether the first kinematic chain (e.g., the robot arm) is still in admittance zero space or impedance mode, and / or whether the first kinematic chain (e.g., the robot arm) is still within cutoff limits. If the updated first data determining that the additional manual movement corresponding to the first kinematic chain does not meet preset criteria, such as the lever being within D7 limits (521), and / or the arm not being in admittance zero space or impedance mode (517), and / or the arm no longer being within cutoff limits (519), the robotic medical system 200 stops the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system 200 (522).

[0326] In some embodiments, an additional manual movement of the first kinematic chain causes a reversal of the movement of the first kinematic chain along the length of the second kinematic chain (1038). For example, in some embodiments, a preset criterion is no longer met when updated first data indicates that a reversal of the movement of the first kinematic chain along the length of the second kinematic chain has caused the first kinematic chain to leave the cutoff area along the second kinematic chain.

[0327] In some implementations, the first data includes a first type of user input (1040) that is continuously maintained during manual manipulation of the first motion chain. Updated first data includes the cessation of the first type of user input (1042). For example, the first type of user input includes a user pressing and holding a preset button on the first motion chain (e.g., button 314). FIG. 23B According to some implementation schemes, the updated first data includes the user's press and hold of the preset button to a halt.

[0328] In some embodiments, the robot system 200 further includes a third kinematic chain movably coupled to the second kinematic chain. For example, the third kinematic chain is a second or third robotic arm. In some embodiments, both the first and third kinematic chains are capable of translating along the second kinematic chain while applying a negligible force in the direction along the second kinematic chain, and vice versa. According to some embodiments, method 1000 further includes controlling the movement of the third kinematic chain (1046) based on the automatic movement of the second kinematic chain.

[0329] In some embodiments, controlling movement of the third kinematic chain includes initiating and / or stopping automatic translational movement of the third kinematic chain along the bar, and / or performing zero-space motion of links and joints of the third kinematic chain. This is illustrated in FIGS. 26 and 27. Optionally, the robotic medical system can control movement of the third kinematic chain as a function of movement of the first kinematic chain (e.g., to avoid collision with the first kinematic chain, and / or to maximize a workspace, etc.).

[0330] 3. Implementation systems and terminology .

[0331] Embodiments disclosed herein provide systems, methods, and apparatuses for automatic bar translation when manipulating a robotic arm.

[0332] It should be noted that as used herein the terms "couple," "coupling," "coupled," or other variations of the word couple can indicate either an indirect connection or direct connection. For example, if a first component is "coupled" to a second component, then the first component can be either indirectly connected to the second component via another component or directly connected to the second component.

[0333] The functionality described herein for automatic command bar translation can be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such a medium can comprise 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 disk storage, magnetic disk storage 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 a computer-readable medium can be tangible and non-transitory. The term "code" as used herein can refer to software, instructions, code or data that is executable by a computing device or processor.

[0334] The methods disclosed herein include one or more steps or actions for achieving the methods. The method steps and / or actions can be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is required for proper operation of the method being described, the order and / or use of specific steps and / or actions can be modified without departing from the scope of the claims.

[0335] As used herein, the term “plurality” denotes two or more. For example, a plurality of components indicates two or more components. The term “determining” encompasses a wide variety of actions and, therefore, “determining” can include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Additionally, “determining” can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Furthermore, “determining” can include resolving, selecting, choosing, establishing and the like.

[0336] The phrase “based on” is not meant to limit to “based only on” unless otherwise indicated. In other words, the phrase “based on” describes both “based only on” and “based at least on.”

[0337] The foregoing description of the disclosed implementations is provided as an enabling teaching of the present application. Various modifications to these implementations will be apparent to those skilled in the art, and the generic principles defined herein can be applied to other implementations. For example, it will be appreciated that ordinary skill in the art will be capable of employing the several alternative or equivalent structural details, such as equivalent ways of fastening, mounting, coupling, or joining tool components, equivalent mechanisms for producing a particular actuating motion, and equivalent mechanisms for delivering electrical energy. Thus, the present application is not intended to be limited to the described implementations, but rather is to be accorded the widest scope consistent with the principles and the novel features disclosed herein.

[0338] Some implementations or embodiments are described in relation to the following clauses:

[0339] Clause 1. A robotic system, comprising:

[0340] a first kinematic chain controlled by a robot;

[0341] a second kinematic chain controlled by a robot, the second kinematic chain controlled by a robot being movably coupled to the first kinematic chain; and

[0342] a controller communicably coupled to the first kinematic chain and the second kinematic chain, the controller comprising one or more processors and a memory storing instructions,

[0343] wherein the instructions, when executed by the one or more processors, cause the processors to:

[0344] obtain data corresponding to the first kinematic chain; and

[0345] control movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain.

[0346] Clause 2. The robotic system of clause 1, wherein obtaining the data corresponding to the first kinematic chain comprises obtaining the data while the first kinematic chain is in a manual manipulation mode.

[0347] Clause 3. The robotic system of clause 1 or 2, wherein controlling the movement of the second kinematic chain as a function of the data corresponding to the first kinematic chain comprises automatically moving the second kinematic chain as a function of determining that the data corresponding to the first kinematic chain satisfies a preset criterion.

[0348] Clause 4. The robotic system of any one of clauses 1-3, wherein controlling the movement of the second kinematic chain comprises controlling translational movement of the second kinematic chain relative to a base of the robotic system.

[0349] Clause 5. The robotic system of any one of clauses 1-4, wherein:

[0350] the first kinematic chain comprises a first robotic arm; and

[0351] the second kinematic chain comprises a bar that supports the first robotic arm.

[0352] Clause 6. The robotic system of clause 5, wherein the first robotic arm comprises a base joint coupled to the bar and translatable along the bar.

[0353] Clause 7. The robotic system of clause 6, wherein the translation of the first robotic arm along the bar is constrained by a first limit along the bar.

[0354] Clause 8. The robotic system of clause 7, wherein the first limit comprises a haptic wall that limits an extent of manual translation of the first robotic arm along the bar.

[0355] Clause 9. The robotic system of any one of clauses 5-8, wherein automatic movement of the bar is triggered as a function of the first robotic arm exceeding a cutoff limit.

[0356] Clause 10. The robotic system of any one of clauses 5-9, wherein the data corresponding to the first kinematic chain comprises a distance traveled by the first robotic arm along the bar.

[0357] Clause 11. The robotic system of any one of clauses 5-10, wherein the data corresponding to the first kinematic chain comprises a direction of movement of the first robotic arm along the bar, and controlling the movement of the second kinematic chain comprises moving the bar relative to a base of the robotic system in the direction of movement of the first robotic arm.

[0358] Clause 12. The robotic system of any of clauses 1-11, further comprising:

[0359] a third robotically-controlled kinematic chain movably coupled to the second kinematic chain,

[0360] wherein the instructions, when executed by the one or more processors, cause the processors to control movement of the third kinematic chain in accordance with the movement of the second kinematic chain.

[0361] Clause 13. The robotic system of clause 12, wherein:

[0362] the first kinematic chain comprises a first robotic arm;

[0363] the third kinematic chain comprises a second robotic arm; and

[0364] the second kinematic chain comprises a bar supporting the first robotic arm and the second robotic arm.

[0365] Clause 14. The robotic system of clause 12 or 13, wherein controlling the movement of the third kinematic chain in accordance with the movement of the second kinematic chain comprises, in accordance with a determination that a first movement criterion is satisfied, maintaining a spatial relationship between at least a portion of the third kinematic chain and the second kinematic chain during the movement of the second kinematic chain.

[0366] Clause 15. The robotic system of any of clauses 12-14, wherein controlling the movement of the third kinematic chain in accordance with the movement of the second kinematic chain comprises, in accordance with a determination that a second movement criterion is satisfied, moving at least a portion of the third kinematic chain relative to the second kinematic chain during the movement of the second kinematic chain.

[0367] Clause 16. The robotic system of any of clauses 12-15, wherein controlling the movement of the third kinematic chain in accordance with the movement of the second kinematic chain comprises, in accordance with a determination that a third movement criterion is satisfied, moving at least a first portion of the third kinematic chain relative to the second kinematic chain during the movement of the second kinematic chain while maintaining a position of a distal end portion of the third kinematic chain relative to a base of the robotic system.

[0368] Clause 17. The robotic system of any of clauses 12-16, wherein controlling the movement of the second kinematic chain in accordance with the movement of the first kinematic chain comprises, in accordance with a determination that a fourth movement criterion is satisfied, stopping movement of the second kinematic chain.

[0369] Clause 18. A robotic medical system, comprising:

[0370] a patient support platform;

[0371] a first kinematic chain; and

[0372] a second kinematic chain, wherein:

[0373] the first kinematic chain is movably coupled to the second kinematic chain, and

[0374] the robotic medical system includes a controller including one or more processors and a memory storing instructions,

[0375] wherein the instructions, when executed by the one or more processors, cause the processors to:

[0376] adjust a spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain; and

[0377] activate automatic movement of the second kinematic chain relative to the patient support platform in accordance with a determination that a preset criterion is satisfied during adjustment of the spatial configuration of the first kinematic chain in accordance with the user input directed to the first kinematic chain.

[0378] Clause 19. The robotic medical system of Clause 18, wherein:

[0379] the first kinematic chain is movably coupled to the second kinematic chain via a base joint that is translatable along the second kinematic chain, and

[0380] adjusting the spatial configuration of the first kinematic chain relative to the patient support platform includes translating at least the base joint of the first kinematic chain along the second kinematic chain.

[0381] Clause 20. The robotic medical system of Clause 18 or 19, wherein activating the automatic movement of the second kinematic chain relative to the patient support platform includes automatically translating the second kinematic chain relative to the patient support platform.

[0382] Clause 21. The robotic medical system of any of Clauses 18-20, wherein:

[0383] the first kinematic chain includes a first robotic arm; and

[0384] the second kinematic chain includes a bar that supports the first robotic arm.

[0385] Clause 22. The robotic medical system of any one of clauses 18-21, wherein the user input directed to the first kinematic chain is received via an input interface located on or proximate to the first kinematic chain.

[0386] Clause 23. The robotic medical system of any one of clauses 18-22, wherein the user input directed to the first kinematic chain comprises input received via a button.

[0387] Clause 24. The robotic medical system of clause 23, wherein the input received via the button is continuous user input.

[0388] Clause 25. The robotic medical system of clause 24, wherein the instructions, when executed by the one or more processors, cause the processors to deactivate the automatic movement of the second kinematic chain relative to the patient support platform in accordance with a determination that the continuous user input is detected via the button is discontinued.

[0389] Clause 26. The robotic medical system of any one of clauses 18-25, wherein adjusting the spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain comprises adjusting the spatial configuration of the first kinematic chain in accordance with direct physical manipulation of the first kinematic chain by a user in a first power-assisted manipulation mode of the first kinematic chain.

[0390] Clause 27. The robotic medical system of any one of clauses 18-26, wherein the preset criteria requires that a force detected on one or more preset portions of the first kinematic chain during the adjustment of the spatial configuration of the first kinematic chain exceeds a preset threshold force in order to satisfy the preset criteria.

[0391] Clause 28. A method for setting a robotic medical system, the robotic medical system comprising a first kinematic chain and a second kinematic chain movably coupled to the first kinematic chain, the method comprising:

[0392] obtaining first data corresponding to manual manipulation of the first kinematic chain, wherein the manual manipulation of the first kinematic chain causes movement of the first kinematic chain relative to the second kinematic chain; and

[0393] in accordance with a determination that the first data corresponding to manual manipulation of the first kinematic chain satisfies preset criteria, activating automatic movement of the second kinematic chain relative to a physical environment of the robotic medical system.

[0394] Clause 29. The method of clause 28, wherein the manual manipulation of the first kinematic chain causes translational movement of the first kinematic chain along a length of the second kinematic chain, and the preset criteria is satisfied in accordance with a determination that the translational movement of the first kinematic chain has exceeded a preset cutoff limit along the length of the second kinematic chain.

[0395] Clause 30. The method of clause 28 or 29, wherein:

[0396] the first kinematic chain comprises a first robotic arm; and

[0397] the second kinematic chain comprises a bar supporting the first robotic arm.

[0398] Clause 31. The method of any of clauses 28-30, wherein activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system comprises initiating translational movement of the second kinematic chain relative to a base of the robotic medical system.

[0399] Clause 32. The method of any of clauses 28-31, wherein the preset criteria is satisfied in accordance with a determination that the first data corresponding to the manual manipulation of the first kinematic chain has exceeded a preset cutoff limit for a threshold amount of time.

[0400] Clause 33. The method of clause 32, wherein the threshold amount of time is at least two seconds.

[0401] Clause 34. The method of any of clauses 28-33, comprising:

[0402] after activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system, receiving updated first data corresponding to additional manual movement of the first kinematic chain; and

[0403] in accordance with a determination that the updated first data corresponding to the additional manual movement of the first kinematic chain does not satisfy the preset criteria, ceasing the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system.

[0404] Clause 35. The method of clause 34, wherein the additional manual movement of the first kinematic chain causes a reversal of the movement of the first kinematic chain along a length of the second kinematic chain.

[0405] Clause 36. The method of clause 34 or 35, wherein the first data comprises a first type of user input that is continuously maintained during the manual manipulation of the first kinematic chain, and the updated first data comprises a cessation of the first type of user input.

[0406] Clause 37. The method of any one of clauses 28-36, wherein the preset criteria require that the manual manipulation of the first kinematic chain be performed in accordance with a direct physical manipulation of the first kinematic chain by a user in a first power-assisted manipulation mode of the first kinematic chain.

[0407] Clause 38. The method of any one of clauses 28-37, wherein the robotic system further comprises a third kinematic chain movably coupled to the second kinematic chain, the method further comprising controlling movement of the third kinematic chain in accordance with an automated movement of the second kinematic chain.

[0408] Clause 39. The method of any one of clauses 28-38, wherein the manual movement of the first kinematic chain along the second kinematic chain is constrained by a first limit along the second kinematic chain.

Claims

1. A robotic system comprising: a robotically controlled first kinematic chain; a robotically controlled second kinematic chain movably coupled to the first kinematic chain, wherein movement of the first kinematic chain relative to the second kinematic chain comprises translational movement of a base joint connecting the first kinematic chain and the second kinematic chain; a robotically controlled third kinematic chain movably coupled to the second kinematic chain; and a controller communicably coupled to the first kinematic chain and the second kinematic chain, the controller comprising one or more processors and a memory storing instructions, wherein the instructions, when executed by the one or more processors, cause the processors to: obtain data corresponding to the first kinematic chain; control movement of the second kinematic chain as a function of the data corresponding to the first kinematic chain; and control movement of the third kinematic chain as a function of movement of the second kinematic chain; wherein controlling the movement of the third kinematic chain as a function of the movement of the second kinematic chain comprises moving at least a first portion of the third kinematic chain relative to the second kinematic chain during the movement of the second kinematic chain while maintaining a position of a distal end portion of the third kinematic chain relative to a base of the robotic system in accordance with a determination that a third movement criterion is satisfied.

2. The robotic system of claim 1, wherein obtaining the data corresponding to the first kinematic chain comprises obtaining the data while the first kinematic chain is in a manual manipulation mode.

3. The robotic system of claim 1, wherein controlling the movement of the second kinematic chain as a function of the data corresponding to the first kinematic chain comprises automatically moving the second kinematic chain in accordance with a determination that the data corresponding to the first kinematic chain satisfies a preset criterion.

4. The robotic system of claim 1, wherein controlling the movement of the second kinematic chain comprises controlling translational movement of the second kinematic chain relative to a base of the robotic system.

5. The robotic system of claim 1, wherein: the first kinematic chain comprises a first robotic arm; and the second kinematic chain comprises a bar supporting the first robotic arm.

6. The robotic system of claim 5, wherein the first robotic arm comprises the base joint, and the base joint is coupled to the bar and is translatable along the bar.

7. The robotic system of claim 6, wherein the translation of the first robotic arm along the bar is constrained by a first limit along the bar.

8. The robotic system of claim 7, wherein the first limit comprises a haptic wall limiting a degree of manual translation of the first robotic arm along the bar.

9. The robotic system of claim 5, wherein automatic movement of the bar is triggered in accordance with the first robotic arm exceeding a cutoff limit. ​ ​ 10. The robotic system of claim 5, wherein the data corresponding to the first kinematic chain comprises a distance traveled by the first robotic arm along the bar.

11. The robotic system of claim 5, wherein the data corresponding to the first kinematic chain comprises a direction of movement of the first robotic arm along the bar, and controlling the movement of the second kinematic chain comprises moving the bar relative to a base of the robotic system in the direction of movement of the first robotic arm.

12. The robotic system of claim 1, wherein: the first kinematic chain comprises a first robotic arm; the third kinematic chain comprises a second robotic arm; and the second kinematic chain comprises a bar supporting the first robotic arm and the second robotic arm.

13. The robotic system of claim 1, wherein controlling the movement of the third kinematic chain as a function of the movement of the second kinematic chain comprises, in accordance with a determination that a first movement criterion is satisfied, maintaining a spatial relationship between at least a portion of the third kinematic chain and the second kinematic chain during the movement of the second kinematic chain.

14. The robotic system of claim 1, wherein controlling the movement of the third kinematic chain as a function of the movement of the second kinematic chain comprises, in accordance with a determination that a second movement criterion is satisfied, moving at least a portion of the third kinematic chain relative to the second kinematic chain during the movement of the second kinematic chain.

15. The robotic system of claim 1, wherein controlling the movement of the second kinematic chain as a function of the movement of the first kinematic chain comprises, in accordance with a determination that a fourth movement criterion is satisfied, stopping movement of the second kinematic chain.

16. The robotic system of claim 1, wherein the robotic system is a robotic medical system, the robotic system further comprising: a patient support platform; wherein the instructions, when executed by the one or more processors, cause the processors to: adjust a spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain; and activate automatic movement of the second kinematic chain relative to the patient support platform in accordance with a determination that a preset criterion is satisfied during adjustment of the spatial configuration of the first kinematic chain in accordance with the user input directed to the first kinematic chain.

17. The robotic system of claim 16, wherein: the first kinematic chain is movably coupled to the second kinematic chain via a base joint that is translatable along the second kinematic chain, and adjusting the spatial configuration of the first kinematic chain relative to the patient support platform comprises translating at least the base joint of the first kinematic chain along the second kinematic chain.

18. The robotic system of claim 16, wherein activating the automatic movement of the second kinematic chain relative to the patient support platform comprises automatically translating the second kinematic chain relative to the patient support platform.

19. The robotic system of claim 16, wherein: the first kinematic chain comprises a first robotic arm; and the second kinematic chain comprises a second robotic arm. The second kinematic chain includes a bar supporting the first robotic arm.

20. The robotic system of claim 16, wherein the user input directed to the first kinematic chain is received via an input interface located on or proximate to the first kinematic chain.

21. The robotic system of claim 16, wherein the user input directed to the first kinematic chain includes input received via a button.

22. The robotic system of claim 21, wherein the input received via the button is continuous user input.

23. The robotic system of claim 22, wherein the instructions, when executed by the one or more processors, cause the processors to deactivate the automatic movement of the second kinematic chain relative to the patient support platform in accordance with a determination that the continuous user input is detected via the button is discontinued.

24. The robotic system of claim 16, wherein adjusting the spatial configuration of the first kinematic chain relative to the patient support platform in accordance with user input directed to the first kinematic chain includes adjusting the spatial configuration of the first kinematic chain in accordance with direct physical manipulation of the first kinematic chain by a user in a first power-assisted manipulation mode of the first kinematic chain.

25. The robotic system of claim 16, wherein the preset criteria requires that a force detected on one or more preset portions of the first kinematic chain during the adjustment of the spatial configuration of the first kinematic chain exceeds a preset threshold force in order to satisfy the preset criteria.

26. A method for setting up a robotic medical system, the robotic medical system including a first kinematic chain, a second kinematic chain movably coupled to the first kinematic chain, and a third kinematic chain movably coupled to the second kinematic chain, wherein movement of the first kinematic chain relative to the second kinematic chain includes translational movement of a base joint connecting the first kinematic chain and the second kinematic chain, the method comprising: obtaining first data corresponding to manual manipulation of the first kinematic chain, wherein the manual manipulation of the first kinematic chain causes movement of the first kinematic chain relative to the second kinematic chain; in accordance with a determination that the first data corresponding to manual manipulation of the first kinematic chain satisfies preset criteria, activating automatic movement of the second kinematic chain relative to a physical environment of the robotic medical system; and controlling movement of the third kinematic chain in accordance with the movement of the second kinematic chain; wherein controlling the movement of the third kinematic chain in accordance with the movement of the second kinematic chain includes moving at least a first portion of the third kinematic chain relative to the second kinematic chain during the movement of the second kinematic chain while maintaining a position of a distal end portion of the third kinematic chain relative to a base of the robotic medical system in accordance with a determination that third movement criteria are satisfied.

27. The method of claim 26, wherein the manual manipulation of the first kinematic chain causes translational movement of the first kinematic chain along a length of the second kinematic chain, and the preset criteria is satisfied in accordance with a determination that the translational movement of the first kinematic chain has exceeded a preset cutoff limit along the length of the second kinematic chain.

28. The method of claim 26, wherein: the first kinematic chain comprises a first robotic arm; and the second kinematic chain comprises a bar supporting the first robotic arm.

29. The method of claim 26, wherein activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system comprises initiating translational movement of the second kinematic chain relative to a base of the robotic medical system.

30. The method of claim 26, wherein the preset criteria is satisfied in accordance with a determination that the first data corresponding to the manual manipulation of the first kinematic chain has exceeded a preset cutoff limit for a threshold amount of time.

31. The method of claim 30, wherein the threshold amount of time is at least two seconds.

32. The method of claim 26, comprising: after activating the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system, receiving updated first data corresponding to additional manual movement of the first kinematic chain; and in accordance with a determination that the updated first data corresponding to the additional manual movement of the first kinematic chain does not satisfy the preset criteria, ceasing the automatic movement of the second kinematic chain relative to the physical environment of the robotic medical system.

33. The method of claim 32, wherein the additional manual movement of the first kinematic chain causes a reversal of the movement of the first kinematic chain along a length of the second kinematic chain.

34. The method of claim 32, wherein the first data comprises a first type of user input that is continuously maintained during the manual manipulation of the first kinematic chain, and the updated first data comprises a cessation of the first type of user input.

35. The method of claim 26, wherein the preset criteria requires that the manual manipulation of the first kinematic chain is performed in accordance with direct physical manipulation of the first kinematic chain by a user in a first power-assisted manipulation mode of the first kinematic chain.

36. The method of claim 26, wherein the manual movement of the first kinematic chain along the second kinematic chain is constrained by a first limit along the second kinematic chain.

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