Instrument repositioning for computer-aided systems

Abstract

A computer-aided system includes a manipulator arm. The manipulator arm is configured to rotate the instrument mounting portion about a first axis of rotation. Additionally, the manipulator arm or the instrument is configured to rotate the instrument relative to the instrument mounting portion about a second axis of rotation. The control system is configured to receive an indication that the instrument is coupled or decoupled. In response to receiving the indication, the control system is further configured to determine one or more movements of the instrument and the manipulator arm to orient an instrument mounting portion for coupling or decoupling of the instrument while limiting a change in position or orientation of a distal portion of the instrument within a change tolerance.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority under 35 U SC §119(e) to U.S. Provisional Patent Application Serial No. 63 / 411,172, filed on September 29, 2022, which is incorporated herein by reference in its entirety. Technical Field

[0003] The disclosed embodiments relate to instrument repositioning arrangements for computer-assisted systems and related methods of use. Background Art

[0004] The use of computer-assisted electronic systems is becoming more and more frequent. This is especially true in industrial, entertainment, educational and other environments. As a medical example, today's medical facilities have large arrays of electronic devices found in operating rooms, interventional suites, examination rooms, intensive care units, emergency rooms, etc. Many of these electronic devices may be capable of remote operation, autonomous or semi-autonomous movement. Personnel can use one or more input devices located at the operator interface system to control the movement and / or operation of the electronic device. As a specific example, a minimally invasive robotic telesurgery system allows surgeons to operate on patients at the bedside or remote locations. Telesurgery generally refers to a surgical operation performed using a surgical system rather than directly manually moving and controlling instruments, in which the surgeon uses some form of remote control, such as a remote control containing a servo mechanism, to control the movement and action of surgical instruments. Summary of the invention

[0005] In some embodiments, the computer-assisted system includes a manipulator arm. The manipulator arm includes a plurality of links connected by a plurality of joints in a kinematic chain. A link in the plurality of links includes an instrument mounting portion configured to support an instrument. The manipulator arm is configured to rotate the instrument mounting portion around a first rotation axis. The manipulator arm or the instrument is configured to rotate the instrument relative to the instrument mounting portion and around a second rotation axis. The computer-assisted system also includes a plurality of actuators that can be driven to move the manipulator arm and the instrument. The computer-assisted system also includes a control system that includes at least one processor. The control system is configured to receive an indication of an instrument connection or disconnection. The control system is also configured to determine one or more movements of the instrument and the manipulator arm in response to receiving the indication to orient the instrument mounting portion for the instrument connection or disconnection, while limiting the change in the position or orientation of the distal portion of the instrument within a change tolerance. The one or more movements of the instrument and the manipulator arm include a first rotation of the instrument mounting portion around the first rotation axis and a second rotation of the instrument around the second rotation axis. The control system is also configured to cause a plurality of actuators to move the instrument and the manipulator arm based on the determined one or more movements.

[0006] In some embodiments, the computer-assisted system includes a first manipulator arm. The first manipulator arm includes a first plurality of links connected by a first plurality of joints in a first kinematic chain. One of the first plurality of links includes a first instrument mounting portion configured to support a first instrument. The computer-assisted system also includes a second manipulator arm. The second manipulator arm includes a second plurality of links connected by a second plurality of joints in a second kinematic chain. One of the second plurality of links includes a second instrument mounting portion configured to support a second instrument. The computer-assisted system also includes a plurality of actuators that can be driven to move the first manipulator arm and the first instrument, and further can be driven to move the second manipulator arm and the second instrument. The computer-assisted system also includes a control system that includes at least one processor. The control system is configured to receive an indication of an instrument coupling or disengagement. The control system is also configured to determine, in response to the indication, one or more first movements of the first manipulator arm and one or more second movements of the second manipulator arm to orient the first instrument mounting portion and the second instrument mounting portion within an angular tolerance of each other. The control system is also configured to cause the plurality of actuators to move the first manipulator arm and the second manipulator arm based on the one or more first movements and the one or more second movements.

[0007] In some embodiments, a method for controlling a computer-assisted system is provided. The computer-assisted system includes a manipulator arm, which includes a plurality of links connected by a plurality of joints in a kinematic chain. One of the plurality of links includes an instrument mounting portion configured to support an instrument and a plurality of actuators configured to move the manipulator arm and the instrument. The plurality of actuators are configured to rotate the instrument mounting portion around a first rotation axis. The manipulator arm or the instrument is configured to rotate the instrument relative to the instrument mounting portion and around a second rotation axis. The method includes receiving an indication of an instrument connection or disconnection. The method also includes, in response to receiving the indication, determining one or more movements of the instrument and the manipulator arm to orient the instrument mounting portion for the instrument connection or disconnection, while limiting the change in the position or orientation of the distal portion of the instrument within a change tolerance. The one or more movements of the instrument and the manipulator arm include a first rotation of the instrument mounting portion around the first rotation axis and a second rotation of the instrument around the second rotation axis. The method also includes causing a plurality of actuators to move the instrument and the manipulator arm based on the determined one or more movements.

[0008] In some embodiments, a non-transitory computer-readable storage medium stores instructions that, when executed by at least one processor associated with a computer-assisted system, cause the at least one processor to perform a method. The computer-assisted system includes a manipulator arm that includes a plurality of links connected by a plurality of joints in a kinematic chain. One of the plurality of links includes an instrument mounting portion configured to support an instrument and a plurality of actuators configured to move the manipulator arm and the instrument. The plurality of actuators are configured to rotate the instrument mounting portion around a first axis of rotation. The manipulator arm or the instrument is configured to rotate the instrument relative to the instrument mounting portion and around a second axis of rotation. The method includes receiving an indication of an instrument connection or disconnection. The method also includes, in response to receiving the indication, determining one or more movements of the instrument and the manipulator arm to orient the instrument mounting portion for the instrument connection or disconnection, while limiting the change in the position or orientation of the distal portion of the instrument to within a change tolerance. The one or more movements of the instrument and the manipulator arm include a first rotation of the instrument mounting portion around the first axis of rotation and a second rotation of the instrument around the second axis of rotation. The method also includes causing a plurality of actuators to move the instrument and the manipulator arm based on the determined one or more movements.

[0009] In some embodiments, a method for controlling a computer-assisted system is provided. The computer-assisted system includes a first manipulator arm, a second manipulator arm, and a plurality of actuators. The first manipulator arm includes a first plurality of links connected by a first plurality of joints in a first kinematic chain. One of the first plurality of links includes a first instrument mounting portion configured to support a first instrument. The second manipulator arm includes a second plurality of links connected by a second plurality of joints in a second kinematic chain. One of the second plurality of links includes a second instrument mounting portion configured to support a second instrument. A plurality of actuators are drivable to move the first manipulator arm and the first instrument, as well as the second manipulator arm and the second instrument. The method includes receiving an indication of an instrument coupling or disengagement. The method also includes, in response to the indication, determining one or more first movements of the first manipulator arm and one or more second movements of the second manipulator arm to orient the first instrument mounting portion and the second instrument mounting portion within an angular tolerance of each other. The method also includes causing a plurality of actuators to move the first manipulator arm and the second manipulator arm based on the one or more first movements and the one or more second movements.

[0010] In some embodiments, a non-transitory computer-readable storage medium stores instructions that, when executed by at least one processor associated with a computer-assisted system, cause the at least one processor to perform a method. The computer-assisted system includes a first manipulator arm, a second manipulator arm, and a plurality of actuators. The first manipulator arm includes a first plurality of links connected by a first plurality of joints in a first kinematic chain. One of the first plurality of links includes a first instrument mounting portion configured to support a first instrument. The second manipulator arm includes a second plurality of links connected by a second plurality of joints in a second kinematic chain. One of the second plurality of links includes a second instrument mounting portion configured to support a second instrument. A plurality of actuators are drivable to move the first manipulator arm and the first instrument and the second manipulator arm and the second instrument. The method includes receiving an indication of an instrument coupling or disengagement. The method also includes, in response to the indication, determining one or more first movements of the first manipulator arm and one or more second movements of the second manipulator arm to orient the first instrument mounting portion and the second instrument mounting portion within an angular tolerance of each other. The method also includes causing a plurality of actuators to move the first manipulator arm and the second manipulator arm based on the one or more first movements and the one or more second movements.

[0011] It should be understood that the aforementioned concepts and the additional concepts discussed below may be arranged in any suitable combination, as the present disclosure is not limited in this regard. Further, other advantages and novel features of the present disclosure will become apparent from the following detailed description of various non-limiting embodiments when considered in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are not intended to be drawn to scale. In the accompanying drawings, each identical or nearly identical component illustrated in various figures may be represented by the same numeral. For clarity, not every component may be labeled in every figure. In the accompanying drawings:

[0013] Figure 1 is a simplified diagram of an embodiment of a computer-assisted system;

[0014] Figure 2 is a side schematic diagram of an embodiment of a manipulator system;

[0015] Figure 3 is a schematic side view of an embodiment of a computer-assisted system including a manipulator system;

[0016] Figure 4 is a perspective view of an embodiment of a manipulator arm of a manipulator system mounted on a workbench;

[0017] Figure 5 is a perspective view of an embodiment of a manipulator arm of a manipulator system mounted on a workbench;

[0018] Figure 6 is a perspective view of a manipulator system mounted on a workbench having a plurality of manipulator arms;

[0019] Figure 7 is a side schematic diagram of an embodiment of an instrument mounting portion of a computer-assisted system having a supported instrument;

[0020] Figure 8 for Figure 7 A longitudinal end view of the device mounting portion and the device taken along line YY;

[0021] Fig. 9 is a side schematic diagram of another embodiment of an instrument mounting portion of a computer-assisted system having a supported instrument;

[0022] Fig.10 for Fig. 9 A longitudinal end view of the device mounting portion and the device taken along line ZZ;

[0023] Fig.11 a flowchart depicting a method of operating a computer-assisted system according to some embodiments;

[0024] Fig. 12A A schematic plan view depicting one embodiment of a computer-assisted system in a first state;

[0025] Fig. 12B Describes the second state Fig. 12A Computer-aided systems;

[0026] Fig.13 a flowchart depicting a method of operating a computer-assisted system according to some embodiments;

[0027] Fig.14A A schematic plan view depicting another embodiment of a computer-assisted system in a first state;

[0028] Fig. 14B Describes the second state Fig.14A Computer-aided systems;

[0029] Fig.15A A schematic plan view depicting another embodiment of a computer-assisted system in a first state;

[0030] Fig. 15B Describes the second state Fig.15A Computer-aided systems;

[0031] Fig.16A a schematic plan view depicting another embodiment of a computer-assisted system in a first state; and

[0032] Fig. 16B Describes the second state Fig.16A Computer-aided systems. DETAILED DESCRIPTION

[0033] The computer-assisted system may include one or more manipulator arms, each of which is configured to manipulate the orientation and / or position of one or more instruments (e.g., posture used herein means orientation, position, or orientation and position). The instrument may be mounted to a manipulator arm on an instrument mounting portion, which is configured to support the instrument and allow the instrument to operate. In some cases, the end effector of the instrument may serve as the end effector of the manipulator arm. In some embodiments, the instrument mounting portion may drive the movement of the instrument (e.g., rotation, translation, a combination thereof, etc.) according to a specific instrument. Examples of potential instruments may include, but are not limited to, graspers, knives, staplers, imagers or other sensors, suction instruments, irrigators, drills, and scissors. More specifically, additional example instruments in the medical field include scalpels, cautery instruments, imagers such as endoscopes and ultrasound probes, etc. In some cases, it may be desirable to physically connect or physically disconnect an instrument from an instrument mounting portion. For example, before starting a procedure using one or more manipulator arms of a computer-assisted system, one or more instruments may be physically connected to each manipulator arm. As another example, after the procedure is completed using one or more manipulator arms, one or more instruments physically connected to the computer-assisted system may be physically detached. Further, the instrument may be "replaced" at any stage of the operating procedure of the computer-assisted system. For example, as part of a medical operation, an instrument may be replaced on a manipulator arm. As another example, as part of a calibration process, multiple instruments may be mounted on a manipulator arm. As yet another example, when the consumables (e.g., fasteners, clips, nail magazines) of the instrument are consumed, the instrument may be replaced. During the coupling and / or detachment process, one or more instruments may be coupled to and / or detached from one or more manipulator arms. In some cases with multiple manipulator arms, due to the specific arrangement of the manipulator arms and their associated instrument mounting parts, the instrument mounting parts of the manipulator arms may be in different orientations and / or positions. Therefore, in some cases, coupling or detaching an instrument may involve the operator further reaching out, repositioning, twisting, or taking additional time or action to interact with the instrument or instrument mounting part. For example, in some instrument mounting part arrangements, the operator may make additional movements to adjust the position of the hand to interact with each instrument or each instrument mounting part in multiple instrument mounting parts. Such manual readjustment may increase the amount of time required to couple and / or uncouple an instrument, or may increase the complexity or difficulty for an operator to perform such coupling or uncoupling of an instrument.

[0034] In some embodiments, the computer-assisted system includes multiple manipulator arms (e.g., including a multi-manipulator system), which can present challenges in facilitating instrument coupling and / or disengagement by an operator. For example, in some cases, some multi-manipulator systems include a manipulator arm having an instrument mounting portion that is configured to removably support an instrument. In some cases, an instrument will be coupled and / or disengaged when multiple manipulator arms are placed with the instrument mounting portion in an orientation that is significantly skewed from one another. For example, the instrument mounting portion may have an orientation that is 90-180 degrees apart and is aligned with one or more principal axes (e.g., yaw, pitch, and roll) of the instrument mounting portion. Alternatively, in some cases, the instrument mounting portion and therefore the portion of the instrument that is physically coupled to the manipulator arm may take a variety of different orientations and / or positions, which makes it more difficult for an operator to interact with the instrument mounting portion or the instrument. Some existing systems allow the manipulator arm to be moved by the operator for instrument coupling or disengagement, such as toward the operator. However, in some circumstances (e.g., where such movement could result in inadvertent collision or injury), it may be undesirable to move the manipulator arm while an instrument supported by the manipulator arm is placed in a workspace (e.g., in a medical example, within a patient's body, such as where the shaft of the instrument extends through a cannula into the patient's body where an end effector of the instrument may impact tissue).

[0035] The technology described herein can solve the problems discussed above. In various cases, the technology described in the present disclosure can provide one or more of the following benefits alone or in combination with each other. The technology described herein can present the instrument mounting portion to the operator in a manner that facilitates the operator to connect and / or disconnect the instrument. The technology described herein can repeatedly provide an instrument connection or disconnection interface (e.g., a button, a lever, a connector, etc.) relative to the relatively same orientation of the operator (e.g., within a certain angular range relative to an established or global reference system). In a multi-arm system, the technology described herein can provide one or more instrument connection or disconnection interfaces to the operator in the relatively same orientation. In some embodiments, "relatively the same" or "similar" can be within a relatively large angular deviation range relative to an established local or global reference system. For example, in the case where the longitudinal axes of the two instrument mounting portions are arranged in a plane, the axes can be within the angular range relative to each other in the plane. In many cases, the technology described herein can avoid the movement of the distal portion of the instrument, or reduce or limit its movement. Some of the techniques described herein may avoid collisions, including collisions between manipulator arms, collisions between manipulator arms and other equipment or operators, collisions between manipulator arms and the operating environment (e.g., a workbench, floor, wall, etc.), and / or (in a medical example) collisions between manipulator arms and patients.

[0036] "Instrument replacement" is used herein to indicate the detachment of an instrument and the subsequent attachment of an instrument on the same manipulator arm. Thus, an "instrument replacement" as used herein may occur when the detached instrument is identical to the attached instrument (e.g., this may occur when the instrument is removed for inspection, cleaning, troubleshooting, loading of clips or staplers or other consumables, etc., and then replaced). An "instrument replacement" may also occur when the detached instrument is replaced with a different instrument (e.g., when multiple instruments that are each attached to different manipulator arms are exchanged with each other, when an instrument that is not attached to a manipulator arm is attached to the manipulator arm, etc.). Although some embodiments are described using instrument replacement, in other embodiments herein, an instrument may be detached from or attached to an instrument mounting portion without a corresponding replacement of the instrument. Thus, some embodiments may include individually detaching one or more instruments (e.g., at the end of a computer-assisted system process such as a surgical procedure) or individually attaching instruments (e.g., at the beginning of a computer-assisted system process such as a surgical procedure).

[0037] In some computer-assisted systems with manipulator arms, the manipulator arms are attached to a manipulator support structure (e.g., a cart) that is separate from a support structure that supports a patient or non-patient workpiece. In some embodiments, the manipulator arm may be mounted to a ceiling, a wall, or a floor. In some embodiments, the manipulator arm is mounted to a support structure (referred to herein as a "table assembly") that supports a patient or non-patient workpiece (e.g., mounted to an operating table). A computer-assisted system may include one or more manipulator arms, and "manipulator system" as used herein means the manipulator arm of a computer-assisted system. A manipulator system in which a manipulator arm is mounted to a table assembly may be referred to as a manipulator system mounted on a table. Regardless of the mounting orientation, the techniques described herein may place the instrument mounting portions (and therefore the portions of the instrument that contact the instrument mounting portions) in alignment with each other, or in some other orientation and position that facilitates instrument replacement, instrument connection, or instrument detachment.

[0038] A computer-assisted system including a manipulator system, which may be considered a robot-assisted system or a robotic system, may include one or more manipulator arms that can operate with the assistance of an electronic control system (e.g., a computer, programmed logic, circuitry, with or without software) to move and control the functions of one or more instruments coupled to the manipulator arms. The manipulator arms typically include mechanical linkages connected by joints. In some embodiments, one or more instruments are removably coupled to (or permanently coupled to) a linkage of the manipulator arm, such as a distal link of a plurality of links.

[0039] The present disclosure describes various apparatuses and apparatuses according to their states in three-dimensional space. As used herein, the term position refers to the orientation of an object or a part of an object in space (e.g., for three-dimensional space, three degrees of freedom of translation along Cartesian X, Y and Z coordinates). As used herein, the term orientation refers to the rotational placement of an object or a part of an object (e.g., for three-dimensional space, three degrees of freedom of rotation around X, Y, Z Cartesian axes, or pitch, roll and yaw). As used herein, the term posture refers to the position of an object or a part of an object in at least one degree of freedom of translation, and the orientation of the object or a part of an object in at least one degree of freedom of rotation (e.g., for a rigid body, up to six degrees of freedom in total). Further, as used herein, the term "distal side" of a kinematic chain means farther away from the base along the kinematic chain, and the term "proximal side" of a kinematic chain means closer to the base along the kinematic chain.

[0040] According to exemplary embodiments described herein, position and / or orientation may be measured and discussed relative to a reference frame. In some cases, the reference frame may be an absolute global reference frame that does not change. For example, the center of the earth establishes a global reference frame relative to the earth. In some cases, the reference frame may be a local reference frame that is fixed relative to the orientation or position of a component of a computer-assisted system. For example, a local reference frame may be established based on a workbench on which a patient or non-patient workpiece is located, or based on the orientation of a linkage of a manipulator arm or other portion of a computer-assisted system. The techniques and methods described herein may employ a global reference frame, a local reference frame, or a combination thereof, as the present disclosure is not so limited.

[0041] Turning to the drawings, specific non-limiting embodiments are described in further detail. It should be understood that the various systems, components, features, and methods described with respect to these embodiments may be used alone and / or in any desired combination, as the present disclosure is not limited to the specific embodiments described herein.

[0042] Figure 11 is a simplified diagram of a computer-assisted system 1. In some embodiments, the system 1 may be applicable to, for example, surgical operations, teleoperated surgical operations, diagnosis, treatment or biopsy procedures. Although some embodiments of such procedures are provided herein, any reference to medical or surgical instruments and medical or surgical methods is optional and intended to be non-restrictive. The systems, instruments and methods described herein can be used for animals, human corpses, animal corpses, parts of human or animal anatomical structures, non-surgical diagnosis, and for industrial systems and general robots, general teleoperation or robotic medical systems. For example, the systems and methods described herein can be used for non-medical purposes, including industrial uses, general robot uses, and sensing or manipulating non-tissue artifacts. Other example applications involve cosmetic improvements, imaging of human or animal anatomical structures, collecting data from human or animal anatomical structures, and training medical or non-medical personnel. Additional example applications include procedures for tissues removed from human or animal anatomical structures (without returning to human or animal anatomical structures) and performing procedures on human or animal corpses. Further, these technologies can also be used for surgical and non-surgical medical treatment or diagnostic procedures.

[0043] like Figure 1 As shown, the system 1 generally includes a plurality of manipulator arms 2 (having a plurality of actuators that can be driven to move the manipulator arms 2). The plurality of actuators can be arranged inside or outside the links and joints of the manipulator arms 2. Figure 1 In the embodiment of the present invention, three manipulator arms 2 are described, but in other embodiments, more or fewer manipulator arms 2 may be used. The exact number of manipulator arms 2 will depend on the medical procedure and the space limitations in the operating room, among other factors. Multiple operator interface systems 6 may be located in the same location, or they may be located in different locations. Multiple operator interface systems 6 allow more than one operator to control one or more remotely operated manipulator arms 2 in various combinations.

[0044] The manipulator arm 2 is used to operate the instrument 4 (e.g., a surgical instrument or an image capture device) when performing various procedures on the patient P. The instrument 4 may be sterile before being used in various procedures. The manipulator arm 2 may be a remotely operated, non-remotely operated, or hybrid remotely operated and non-remotely operated component, having a selected degree of freedom of movement that may be motorized and / or remotely operated, and a selected degree of freedom of movement that may be non-motorized and / or non-remotely operated. In some embodiments, the manipulator arm 2 may be mounted near a workbench 3 (e.g., an operating table or a surgical table), or the manipulator arm 2 may be mounted directly to the workbench 3 or to a track connected to the workbench 3. In various other embodiments, the manipulator arm 2 may be mounted to a manipulator system (e.g., a cart). The manipulator system may be separated and spaced apart from the workbench 3 in the operating room, and may be independently movable relative to the workbench 3.

[0045] In some embodiments, the manipulator arms 2 may be mounted to the ceiling, floor, and / or wall of the operating room. In embodiments employing multiple manipulator arms 2, one or more of the manipulator arms 2 may support a surgical instrument and another of the manipulator arms 2 may support an image capture device, such as a monoscopic or stereoscopic endoscope. In such embodiments, as described above, one or more of the manipulator arms 2 may be mounted to any structure or in any manner. For example, one manipulator arm 2 may be mounted to a table 3 and another manipulator arm 2 may be mounted to a manipulator system.

[0046] The operator interface system 6 allows an operator (e.g., in the medical example, the operator may be a surgeon or other clinician or other medical personnel, such as Figure 1 The operator interface system 6 is a surgeon's console that can be located in the same room as the workbench 3, such as on the side of the workbench where the patient P is located. However, the operator O can be located in a different room from the patient P or a completely different building or orientation. The operator interface system 6 generally includes one or more input devices for controlling the manipulator arm 2. The input device can include any number of various devices, such as a joystick, a trackball, a data glove, a trigger gun, a manual device, a voice recognition device, a body movement or presence sensor, etc. The input device can be provided with the same degrees of freedom as the associated instrument 4 to provide the operator O with a strong sense of directly controlling the instrument 4. In this regard, the input device can provide the operator O with a sense that the input device is integrated with the instrument 4. The input device can have more or less degrees of freedom than the associated instrument 4. The input device can optionally be a manual input device that moves with six degrees of freedom and can also include an actuable handle for actuating the instrument (e.g., for closing the clamping jaws, applying an electric potential to the electrode, delivering drug therapy, etc.).

[0047] The manipulator arm 2 can support the instrument 4 and can include a kinematic structure of one or more non-servo-controlled links (e.g., a manipulator support structure having one or more links that are manually positioned and locked in place), and / or one or more servo-controlled links (e.g., one or more links that are controlled in response to commands from the control system 10), and an instrument mounting portion. The manipulator arm 2 can optionally include a plurality of actuators or motors that drive inputs on the instrument 4 in response to commands from a control system (e.g., the control system 10). The actuator can optionally include a drive system that, when coupled to the instrument 4, can advance the instrument 4 into a natural or surgically created anatomical orifice.

[0048] Other drive systems can move the distal end of the instrument 4 with multiple degrees of freedom, which can include three degrees of linear motion (e.g., linear motion along the X, Y, Z Cartesian axes), and three degrees of rotational motion (e.g., rotation around the X, Y, Z Cartesian axes, or pitch, roll and yaw). In addition, the actuator can be used to actuate the articulated end effector of the instrument 4, for example, to manipulate tissue, guide the field of view of the imaging device, or other functions. Actuator position sensors such as rotary transformers, encoders, potentiometers and other mechanisms can provide sensor data to the system 1 describing the rotation and orientation of the axis of the actuator. Such sensor data can provide motion information, such as linear or angular position, velocity or acceleration data. This motion data can be used by the control system 10 to determine the motion information of the object manipulated by the actuator, such as the motion information of the manipulator arm 2, the instrument 4 or the object in the workplace of the system 1. The manipulator arm 2 can support the instrument 4 and position and move this instrument 4 so that the remote center of motion associated with the manipulator arm 2 is located at the entrance hole into the patient's body. The manipulator arm 2 can then move or manipulate the instrument 4 it holds in a manner that does not move the remote center of motion. For example, the manipulator arm 2 can pivot (or pivot the instrument 4 it holds) about the remote center of motion, can insert and retract the instrument into and from the entry aperture along an axis coincident with the remote center of motion, and / or roll about an axis coincident with the remote center of motion.

[0049] like Figure 1 As shown, each manipulator arm may include an instrument interface 18, which may be configured as a button, lever, or other suitable interface. The instrument interface 18 may be used by an operator or technician to couple or detach the instrument 4 to the manipulator arm 2. For example, in some embodiments, an operator interacting with the interface 18 may release the instrument by removing the instrument 4 from the manipulator arm 2 or by allowing the instrument 4 to be detached from the manipulator arm 2 in a subsequent action. As another example, in some embodiments, an operator interacting with the interface 18 may attach the instrument 4 to the manipulator arm 2. The interface 18 may be any suitable interface that allows an operator to releasably couple or detach an instrument to a manipulator arm, as the present disclosure is not so limited.

[0050] The system 1 may also include a display system 8 for displaying images or representations of the workplace and the instrument 4. The display system 8 and the operator interface system 6 may be oriented so that the operator O can control the instrument 4 and the operator interface system 6. The instrument 4 may include a visualization system that may include a viewing mirror assembly that records concurrent or real-time images of the workplace and provides the images to the operator O and / or other operators or personnel through one or more displays of the system 1 (such as one or more displays of the display system 8). The concurrent images may be, for example, two-dimensional or three-dimensional images captured by an endoscope located in the workplace. The visualization system may be implemented as hardware, firmware, software, or a combination thereof, which interacts with one or more computer processors that may include a processor of the control system 10 or is otherwise executed by one or more computer processors. The display system 8 may use image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, etc. to present images of the workplace recorded before or during surgery. The pre-operative or intra-operative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (including, for example, time-based or velocity-based information) image and / or as an image from a model generated from the pre-operative or intra-operative image data set.

[0051] The system 1 may also include a control system 10. The control system 10 may include at least one memory 60 and at least one computer processor 50 for implementing control between the instrument 4, the operator interface system 6, and the display system 8. In some embodiments, the control system 10 may include one or more processors, non-permanent storage devices (e.g., volatile memory, such as random access memory (RAM), cache memory), permanent storage devices (e.g., hard disk, optical drive, such as compact disk (CD) drive or digital versatile disk (DVD) drive, flash memory, etc.), communication interfaces (e.g., Bluetooth interface, infrared interface, network interface, optical interface, etc.), and many other elements and functions. The control system 10 also includes programmed instructions (e.g., non-transitory machine-readable media, such as the memory 60 storing instructions) to implement some or all of the methods described according to the aspects of the present disclosure disclosed herein, including instructions for providing information to the display system 8. Although the control system 10 is Figure 1Although shown as a single box in the simplified schematic diagram of , the control system 10 may include two or more data processing circuits, with a portion of the processing optionally being performed on or near the manipulator arm 2 and another portion of the processing being performed at the operator interface system 6 or the like. The processor of the control system 10 may execute instructions that include instructions corresponding to the processes disclosed herein and described in more detail below. Any of a variety of centralized or distributed data processing architectures may be employed. Similarly, the programmed instructions may be implemented as multiple separate programs or subroutines, or they may be integrated into multiple other aspects of the systems described herein.

[0052] Each of the one or more processors 50 of the control system 10 may be an integrated circuit for processing instructions. For example, the one or more processors may be one or more cores or micro-cores of a processor, a central processing unit (CPU), a microprocessor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a digital signal processor (DSP), a graphics processing unit (GPU), a tensor processing unit (TPU), etc. The control system 10 may also communicate with one or more input devices (e.g., as part of the operator interface system 6), such as a touch screen, a keyboard, a mouse, a microphone, a touch pad, an electronic pen, or any other type of input device.

[0053] The communication interface of the control system 10 may include an integrated circuit for connecting the computing system to a network (not shown) (e.g., a local area network (LAN), a wide area network (WAN) such as the Internet, a mobile network, or any other type of network) and / or another device, such as another computing system.

[0054] Further, the control system 10 may include one or more output devices, such as a display device (e.g., a liquid crystal display (LCD), a plasma display, a touch screen, an organic LED display (OLED), a projector, or other display device), a printer, a speaker, an external storage device, or any other output device. One or more of the output devices may be the same as or different from the input devices. There are many different types of computing systems, and the input and output devices described above may take other forms.

[0055] In some embodiments, the control system 10 may be connected to or part of a network. The network may include multiple nodes. The control system 10 may be implemented on a node or a group of nodes. As an example, the control system 10 may be implemented on a node of a distributed system connected to other nodes. As another example, the control system 10 may be implemented on a distributed computing system having multiple nodes, wherein different functions and / or components of the control system 10 may be located on different nodes within the distributed computing system. Further, one or more elements of the above-mentioned control system 10 may be located in a remote location and connected to other elements via a network.

[0056] As discussed above, the movement of the manipulator arm 2 can be controlled by the control system 10 so that the shaft or intermediate portion of the instrument mounted to the manipulator arm 2 is constrained to reduce collision with or force applied to the material around the minimally invasive access site or other holes through which the instrument supported by the manipulator arm 2 is inserted. Such movement may include, for example, axial insertion of the shaft of the instrument 4 through the hole site, rotation of the shaft around an axis coinciding with the hole site, and pivotal movement of the shaft around a pivot point adjacent to the access site. Some or all of such constraints may be imposed on the movement of the manipulator arm 2 at the access site using a mechanical manipulator joint linkage mechanism that inhibits movement other than the above-mentioned movement, or these constraints may be imposed partially or entirely using data processing and control techniques. In some embodiments, the control system 10 may receive force and / or torque feedback from the instrument 4. In response to the feedback, the control system 10 may transmit a signal to the operator interface system 6. In some examples, the control system 10 may transmit a signal instructing one or more actuators of the manipulator arm 2 to move the instrument 4.

[0057] As shown, the control system 10 is disposed outside the operator interface system 6 and the display system 8 and communicates with the operator interface system 6. In other embodiments, the control system 10 may be disposed in the operator interface system 6. When the operator O interacts with the operator interface system 6, based on the movement of one or more input devices of the operator interface system 6, the sensing space information including the sensing position and / or orientation information is provided to the control system 10. The control system 10 may determine or provide a control signal to the manipulator arm 2 based on the received information and the operator input to control the movement of the manipulator arm 2 (including the instrument mounting portion of the manipulator arm 2) and / or the instrument 4 supported by the manipulator arm 2. In one embodiment, the control system 10 supports one or more wired communication protocols (e.g., Ethernet, USB, etc.) and / or one or more wireless communication protocols (e.g., Bluetooth, IrDA, HomeRF, IEEE 1002.11, DECT, wireless telemetry, etc.). The control system 10 may be implemented on one or more computing systems. One or more computing systems may be used to communicate with, respond to, or control the operator interface system 6. In addition, one or more computing systems may be used to control components of the display system 8.

[0058] Figure 2 To be able to Figure 1 A side schematic diagram of an embodiment of a manipulator system 7 for use with a computer-assisted system 1, the manipulator system being configured in the form of a set of table-mounted manipulator arms 2 that are configured to be attached to a table 3 where a workplace is located (e.g., in a medical example, where a patient is located during a medical procedure). Figure 2The manipulator system 7 is shown as having four manipulators, each manipulator being configured to support an instrument and thus generally allowing manipulation of up to four instruments 4a, 4b, 4c, 4d (e.g., similar to Figure 1 One or more of the instruments 4a, 4b, 4c, 4d may include an imaging device. Example imaging devices include cameras, such as monoscopic or stereoscopic endoscopes, ultrasonic or hyperspectral imagers, which can be used to capture images of a workpiece or a procedure site. The imaging device may be connected to a control system (e.g., Figure 1 The control system 10 of the control system transmits signals. Manipulation can be provided by manipulator arms 2a, 2b, 2c, 2d, each having a plurality of links 20 coupled together and moved by motorized or non-motorized joints 22. The manipulator arm 2 includes a clamp 9 that attaches the manipulator arm to the workbench 3. In other embodiments, the manipulator arms 2a, 2b, 2c, 2d can be coupled to the workbench via a motorized or non-motorized rail system, such as Figure 3-5 The instrument 4a, 4b, 4c, 4d can be positioned and manipulated through a natural orifice or incision in the patient's body so that the kinematic distal center is maintained at the incision or natural orifice. The image of the workplace may include an image of the distal portion 5 of the instrument 4a, 4b, 4c, 4d when it is within the field of view of the imaging device.

[0059] In the illustrated embodiment, each of the manipulator arms 2a, 2b, 2c, 2d includes an instrument mounting portion 12 that can be directly connected to the instrument 4a, 4b, 4c, 4d. Each of the instrument mounting portions 12 may include an instrument actuator 14 configured to actuate the instrument. In some embodiments, the instrument actuator 14 may be configured to rotate the end effector of the instrument about the longitudinal axis of the instrument. In some examples, the longitudinal axis is the insertion axis of the instrument, or the central axis of the instrument shaft. The instrument can be guided by an instrument support 16. As shown in FIG. Figure 2 As shown, each instrument mounting portion 12 includes an interface 18 operable by an operator to couple or detach an instrument 4a, 4b, 4c, 4d.

[0060] Figure 3-6 The specific examples shown in the accompanying drawings relate to a manipulator system mounted on a workbench, wherein one or more manipulator arms (e.g., manipulator arm 140) are configured to be coupled to a workbench assembly (e.g., workbench assembly 101). However, other embodiments may be mounted to objects other than a workbench, or may be mounted to a ceiling, wall, or floor. Still other embodiments may include a cart or other component that allows the manipulator base to be free from the constraints of attachment to other equipment or fixtures.

[0061] Figure 3An embodiment of an example computer-assisted system 100 is described. The system 100 includes one or more manipulator arms 140. Each manipulator arm 140 may carry one or more instruments 150 that may be removably mounted thereon. Figure 1 As shown, the system 100 may also include a control system 1006, an operator input and feedback system 1004 (such as an operator interface system), and / or an auxiliary system 1008. In some embodiments, the system 100 is configured as a computer-assisted teleoperated medical system, in which case the table assembly 101 may be configured to support a patient (not shown), and the instrument 150 may be a medical instrument such as a surgical instrument. For example, the system 100 in this medical example may be used to perform any of a variety of medical procedures, such as surgical procedures, diagnostic procedures, imaging procedures, therapeutic procedures, etc. In other embodiments, the system 100 is configured as a computer-assisted teleoperated system for a non-medical environment, in which case the table assembly 101 may be configured to support an inanimate workpiece (something being manufactured, repaired, tested, etc.) and the instrument 150 may be a non-surgical instrument, such as an industrial instrument.

[0062] for Figure 3 In the example shown, one or more manipulator arms 140 are configured to be mounted to a table assembly 101. Table assembly 101 includes a platform assembly 110 configured to support a patient or an inanimate workpiece, a support column 102 coupled to and supporting the platform assembly 110, and a base 105 coupled to the support column 102. Figure 3 Two manipulator arms 140 are illustrated, but any number of manipulator arms 140 may be included (e.g., one, two, three, or more manipulator arms mounted to each track assembly 120, as described in further detail below). The manipulator arms 140 may include a kinematic structure of links coupled together by one or more joints. Specifically, the manipulator arms 140 each include a proximal link assembly including a proximal link 141 movably coupled to the track assembly 120 via one or more proximal joints 130; an intermediate link assembly including an intermediate arm 142 movably coupled to the proximal link assembly via one or more intermediate joints 145; and a distal link assembly including a distal link 143 movably coupled to the intermediate link assembly via one or more distal joints 146. The distal link assembly may also include an instrument mounting portion 169 movably coupled to the distal link 143 via a wrist 147 and configured to support an instrument 150.

[0063] The manipulator arm 140 can move through various degrees of freedom of motion provided by various joints, including the proximal joint 130, the intermediate joint 145, and the distal joint 146, thereby allowing the instrument 150 mounted thereon to move relative to the workstation. Some of the joints can provide rotation of the links relative to each other, other joints can provide translation of the links relative to each other, and some joints can provide both rotation and translation. In particular, in some embodiments, the proximal link 141 is rotatably coupled to the track 121 via the first proximal joint 130a, which provides the proximal link 141 with respect to the track 121 about a longitudinal dimension 197 perpendicular to the track 121 (e.g., perpendicular to the longitudinal dimension 197). Figure 1 In the neutral state of the proximal link 141, the first axis 136 is also perpendicular to the lateral dimension of the track 121 (e.g., perpendicular to the x-direction in the proximal link 141). Figure 3 y direction in the horizontal plane), and thus in this state, the first axis 136 is oriented vertically (ie, perpendicular to the horizontal plane, or in other words, oriented in the horizontal plane). Figure 3 In addition, in the neutral state of the table assembly 101, the platform assembly 110 is parallel to the ground and the track 121 (i.e., Figure 3 In the x-direction in the orientation of the platform assembly 110, the first axis 136 is also perpendicular to the longitudinal axis 198 of the platform assembly 110, but this is not necessarily the case in other states (e.g., a state in which the platform assembly 110 is tilted relative to the track 121, which may be possible in some embodiments).

[0064] In some embodiments, the proximal link assembly of certain manipulator arms 140 is configured to allow rotation of the proximal link 141 about a second axis 137 in addition to rotation about the first axis 136, wherein the second axis 137 is orthogonal to the first axis 136. In some embodiments, the rotation about the second axis 137 may be provided by a second proximal joint 130b included in the proximal link assembly, while in other embodiments, the rotation about the second axis 137 is provided by the first proximal joint 130a (e.g., the first proximal joint 130a is configured to provide rotation about multiple axes, such as a ball and socket joint). In particular, in some embodiments, the proximal link assembly of certain manipulator arms 140 further includes a second proximal joint 130b coupled between the track 121 and the first proximal joint 130a, wherein the second proximal joint 130b provides for rotation of the proximal link 141 relative to the track 121 about a second axis 137 that is orthogonal to the first axis 136 and parallel to a longitudinal dimension 197 of the track 121 (e.g., Figure 3 in the x direction).

[0065] In addition, in some embodiments, the proximal link 141 is extendable and retractable. For example, the proximal link 141 may include two or more links that can be translated relative to each other in a telescopic manner to extend or retract the proximal link 141. In other words, the two or more links are connected together by a prismatic joint, or they themselves form a prismatic joint. For example, in some embodiments, the proximal link 141 includes an outer link having a hole (e.g., an axial hole extending along the longitudinal axis of the proximal link 141) and an inner link nested in the outer link in its hole.

[0066] In some embodiments, the intermediate arm 142 can be rotationally coupled to the distal portion of the proximal link 141 via one or more intermediate joints 145 (single DOF rotational joints are shown). For example, the intermediate joint 145 can provide for rotation of the intermediate arm 142 relative to the proximal link 141 about a third axis (not illustrated) perpendicular to the intermediate arm 142 and the proximal link 141. Further, in some embodiments, the intermediate joint 145 can provide for rotation of the distal end of the intermediate arm 142 relative to the proximal link 141 about an axis parallel to the longitudinal dimension of the intermediate arm 142. In some embodiments, the intermediate arm 142 is also extendable and retractable. For example, the intermediate arm 142 can include two or more links that can translate relative to each other in a telescopic manner, thereby extending or retracting the intermediate arm 142 in a manner similar to that described above with respect to the proximal link 141. In some embodiments, the links of the middle arm 142 can both translate relative to each other along the longitudinal dimension of the middle arm 142 and rotate relative to each other around an axis parallel to the longitudinal dimension of the middle arm 142, thereby providing the above-mentioned rotation of the distal end of the middle arm 142 relative to the proximal link 141 around an axis parallel to the longitudinal dimension of the middle arm 142.

[0067] In addition, in some embodiments, the distal link 143 is movably coupled to the instrument mounting portion 169 via a wrist 147, which includes a joint for moving the instrument mounting portion 169 relative to the distal link 143. The joint of the wrist 147 may be referred to as a wrist joint herein. In some embodiments, the wrist 147 provides multiple rotational degrees of freedom. For example, in some embodiments, the wrist 147 has three rotational degrees of freedom of the instrument mounting portion 169 relative to the distal link 143. For example, the wrist 147 can be rotatably coupled to the distal link 143 to provide a rolling degree of freedom including rotation of the wrist 147 as a whole around an axis parallel to the distal link 143, and the wrist 147 may further include two joints for providing yaw and pitch degrees of freedom including rotation around pitch and yaw axes that are perpendicular to each other. One of the pitch and yaw axes is also perpendicular to the roll axis (the other of the pitch and yaw axes may also be perpendicular to the roll axis in the neutral state of the wrist 147, but not necessarily in other states). In some embodiments, joints that provide some degrees of freedom of movement of the wrist 147 (e.g., in some embodiments, yaw and pitch) are driven by actuators disposed remotely from the wrist 147, such as in a more proximal portion of the manipulator arm 140, with an actuation element (e.g., a cable, filament, belt, band, linkage, etc.) extending from the actuator to the wrist 147 to drive movement of the wrist. For example, in some embodiments, the wrist includes two wrist joints disposed in the wrist that provide rotation about the yaw and pitch axes, and the two wrist joints may be coupled to an actuation element (e.g., a cable) that drives the rotation.

[0068] Some or all joints of the system 100 described above (and other joints that may exist in the system) may be powered joints, which means that a power actuator can control the movement of the joint by a motorized power supply. Such power actuators may include, for example, electric actuators (e.g., motors), pneumatic or hydraulic actuators, and other types of power actuators familiar to those of ordinary skill in the art. In some embodiments, the joints of wrist 147 are powered joints. Additionally, in some embodiments, some of the joints of system 100 may be manually articulated joints, which may be manually articulated, for example, by manually moving the connecting rod connected thereto. Manually articulated joints may be powered or unpowered. The unpowered joints referred to herein may lack a power actuator that drives the articulation of the joint, but may still include other power aspects or devices, such as an actuable brake, an electronic sensor, or a controlled actuator for providing friction or gravity compensation but not being able to move the joint by itself, or other power devices. The actuator may be arranged on the inside or outside of the connecting rod and joint of system 100.

[0069] In this example, the instrument mounting portion 169 is configured to support the instrument 150, and in some embodiments, the instrument mounting portion 169 includes a drive interface to removably couple the instrument and provide a drive input (e.g., mechanical force, electrical input, etc.) to drive the instrument coupled thereto. For example, the drive interface may include an output coupling (not illustrated) to engage (directly or indirectly via an intermediary) with an input coupling (not illustrated) of the instrument 150 to provide a drive force or other input to the mounted instrument 150 to control various degrees of freedom movement and / or other functions of the instrument 150, such as moving the end effector of the instrument, opening / closing the jaws, driving translation and / or rotation of various components of the instrument, delivering substances and / or energy from the instrument, and various other functions familiar to those of ordinary skill in the art. The output coupling may be driven by an actuator familiar to those of ordinary skill in the art (e.g., an electric servo motor, a hydraulic actuator, a pneumatic actuator). An instrument sterile adapter (ISA) may be disposed between the instrument 150 and the instrument manipulator mounting interface to maintain sterile separation between the instrument 150 and the manipulator arm 140. In some embodiments, the manipulator arm 140 can provide two or more redundant degrees of freedom for the instrument. For example, the instrument 150 can rotate around the longitudinal axis of the instrument, and the instrument mounting portion 169 can rotate around the longitudinal axis of the instrument or the offset axis. The number, orientation and type of the links and joints of the manipulator arm 140, as well as its various degrees of freedom of movement are not limited to those described above. In some embodiments, the manipulator arm 140 includes additional links, joints and / or degrees of freedom in addition to those described above. In other embodiments, the manipulator arm 140 can omit the proximal or intermediate or distal links, and / or omit some of the links, joints and / or degrees of freedom described above. In some embodiments, the multiple joints of the manipulator arm 140 can provide the manipulator arm with more degrees of freedom than the number of degrees of freedom associated with a single solution for the command motion, position or orientation of the manipulator arm. Therefore, the manipulator arm 140 can move around one or more redundant degrees of freedom to achieve the same target motion, position or orientation. Such redundant degrees of freedom may be employed to maintain the position and / or orientation of an instrument supported by the manipulator arm 140 within varying tolerances, as discussed further herein.

[0070] The operator input and feedback system 1004, the control system 1006, and the auxiliary system 1008 may be disposed at the table assembly 101, near one or more manipulator arms 140, or at a location remote from the table assembly 101. The operator input and feedback system 1004 may be operably coupled to the control system 1006 and include one or more input devices to receive input control commands to control the operation of the manipulator arms 140, the instruments 150, the track assembly 120, and / or the table assembly 101. The operator input and feedback system 1004 may also include feedback devices, such as a display device (not shown) that displays an image (e.g., an image of a workspace as captured by one of the instruments 150), a tactile feedback device, an audio feedback device, other graphical operator interface forms of feedback, and the like.

[0071] The control system 1006 can control the operation of the system 100. In particular, the control system 1006 can send control signals (e.g., electrical signals) to the table assembly 101, the track assembly 120, the manipulator arm 140, and / or the instrument 150 to control the movement and / or other operations of various parts. In some embodiments, the control system 1006 can also control some or all operations of the operator input and feedback system 1004, the auxiliary system 1008, or other parts of the system 100. The control system 1006 may include an electronic control system to control and / or assist the operator in controlling the operation of the manipulator arm 140. The electronic control system includes a processing circuit system configured with logic for performing various operations. The logic of the processing circuit system may include dedicated hardware that performs various operations, software (machine-readable and / or processor-executable instructions) that performs various operations, such as part or all of any method described herein, or any combination of hardware and / or software. In an example where the logic includes software, the processing circuit system may include a processor that executes software instructions and a memory device that stores software. A processor may include one or more processing devices capable of executing machine-readable instructions, such as a processor, a processor core, a central processing unit (CPU), a control system, a microcontroller, and the like.

[0072] exist Figure 4-5 In the example shown, each manipulator arm 140 includes a proximal linkage assembly 161 that includes a proximal linkage assembly 161 coupled to a track assembly (e.g., Figure 3 120 in the description); an intermediate link assembly 162, which includes an intermediate arm 142 connected to the distal end portion of the proximal link assembly 161 via one or more intermediate joints 145; and a distal link assembly 163, which includes a distal link 143 connected to the intermediate link assembly 162 via one or more distal joints 146. The distal link assembly 163 also includes an instrument mounting portion 169, which is connected to the distal link 143 and is configured to support an instrument (e.g., see Figure 3 Equipment 150 or Figure 2 The proximal link 141 includes a first link 141a and a second link 141b. The first link 141a and the second link 141b can translate relative to each other along a direction 148 parallel to the longitudinal dimension of the proximal link 141. Figure 4-5 In the example of , the intermediate link assembly 162 includes an intermediate arm 142. The intermediate arm 142 includes a first link 142a and a second link 142b. The first link 142a and the second link 142b are connected by a prismatic joint and can translate relative to each other along a direction 149 parallel to the longitudinal dimension of the intermediate arm 142.

[0073] Here Figure 4-5In the example of , the proximal portion of the intermediate arm 142 of each manipulator arm 140 is rotatably coupled to the second link 141b of the proximal link 141 via a first intermediate joint 145a. The first intermediate joint 145a allows the intermediate arm 142 to rotate relative to the proximal link 141 about a third axis 138, which is perpendicular to the longitudinal dimension of the proximal link 141 and the longitudinal dimension of the intermediate arm 142. In addition, a second intermediate joint 145b is provided to allow the distal portion of the intermediate arm 142 to rotate relative to the proximal portion of the intermediate arm 142 about a fourth axis 139 parallel to the longitudinal dimension of the intermediate arm 142. In some embodiments, the second intermediate joint 145b also serves as a prismatic joint between the first link 142a and the second link 142b, and allows translation between the first link 142a and the second link 142b. The distal link assembly 163 includes a distal link 143, a wrist 147, and an instrument mounting portion 169 coupled to the distal link 143 via the wrist 147. The proximal end portion of the distal link 143 of each manipulator arm 140 is rotatably coupled to the second link 142b of the intermediate arm 142 via a first distal joint 146a. More specifically, the distal end of the second link 142b is coupled to or includes a first distal joint housing 167, which is rotatably coupled to a second distal joint housing 168, which is coupled to or is a part of the distal link 143. The first distal joint 146a allows the distal link to rotate relative to the intermediate arm 142 about a fifth axis 151, which is perpendicular to the longitudinal dimension of the intermediate arm 142 and the longitudinal dimension of the distal link 143. In addition, the second distal joint 146b rotatably couples the wrist 147 (via the distal link 143) to the second distal joint housing 168, such that the wrist 147 can rotate relative to the second distal joint housing 168 about a sixth axis 152, which is parallel to the longitudinal dimension of the distal link 143. The rotation about this sixth axis 152 via the second distal joint 146b constitutes a degree of freedom of movement of the wrist 147, which can be referred to as rolling. Therefore, the sixth axis 152 can also be referred to as the rolling axis. In some embodiments, when the wrist rotates about the sixth axis 152, the distal link 143 moves with the wrist 147 (i.e., the distal link 143 rotates relative to the second distal joint housing 168), and in other embodiments, when the wrist rotates about the sixth axis 152, the distal link 143 remains stationary relative to the second distal joint housing 168 (i.e., the wrist 147 rotates relative to the distal link 143).

[0074] In addition to the rolling motion degrees of freedom described above, in this example, the wrist 147 allows the instrument mounting portion 169 to rotate relative to the distal link 143 about two additional axes, namely the seventh axis 153 and the eighth axis 154. The seventh axis 153 and the eighth axis 154 are perpendicular to each other. The rotations about the seventh axis 153 and the eighth axis 154 can be referred to as the pitch and yaw motion degrees of freedom, respectively, and thus the seventh axis 153 and the eighth axis 154 can be referred to as the pitch and yaw axes, respectively. In particular, the wrist 147 includes two wrist joints that provide rotations about the seventh and eighth axes.

[0075] exist Figure 4-5 In the example shown, the instrument mounting portion 169 includes an instrument mounting portion base member 155 coupled to the wrist 147 and extending parallel to the eighth axis 154, an instrument mounting portion 144 movably coupled to the instrument mounting portion base member 155, and an accessory mounting portion 156 coupled to one end portion of the instrument mounting portion base member 155. The instrument mounting portion 144 can translate along the length of the instrument mounting portion base member 155 in a direction parallel to the eighth axis 154. The instrument mounting portion 144 includes an interface coupled to the instrument 150 mounted thereon. For example, the interface may include an output coupling (not illustrated) to engage with an input coupling (not illustrated) of the instrument 150 (directly or indirectly via an intermediary) to provide a driving force or other input to the mounted instrument 150 to control various degrees of freedom movement and / or other functions of the instrument 150. The accessory mounting portion 156 is configured to receive an accessory, such as a cannula, mounted thereon. A cannula mounted to the accessory mounting portion 156 can be positioned to receive an instrument shaft of an instrument 150 mounted to the instrument mounting portion 144. The instrument shaft and the passage through the cannula can define an insertion axis 157 along which the instrument can translate in response to translation of the instrument mounting portion 144 along the instrument mounting portion base member 155. The insertion axis 157 is parallel to the eighth axis 154. The remote center of motion can be located on the insertion axis 157 in, at, or near the intended orientation of the cannula.

[0076] exist Figure 6In the example shown, the computer-aided system includes a plurality of manipulator arms 140. Specifically, four manipulator arms 140_1, 140_2, 140_3, 140_4 are shown in the example, with two manipulator arms 140 on each longitudinal side 109b of the platform assembly 110. In other embodiments, more or fewer manipulator arms 140 may be used, such as one, two, three or more manipulator arms on each longitudinal side 109b. The manipulator arms 140_1 and 140_2 are generally similar to each other (e.g., within an angular tolerance about at least one axis). Notably, in the example shown, the manipulator arm 140_1 includes two proximal joints 130 that are missing from the manipulator arm 140_2, such that a "horizontal" portion of the proximal link 141 of the manipulator arm 140_1 is located at a lower height than a corresponding "horizontal" portion of the proximal link 141 of the manipulator arm 140_2. Figure 6 In the example shown, four manipulator arms 140 are deployed and arranged to position the axis of an instrument 150 supported by the system ( Figure 6 (not shown) so as to utilize four inlet ports 180. Figure 6 As shown, the various instrument mounting portions 169 of the manipulator arm 140 are arranged in various different postures relative to their respective distal links 143. As discussed further herein, the different postures of the instrument mounting portions can cause problems in coupling or decoupling instruments from the instrument mounting portions 169. Therefore, the techniques and methods discussed further below can address this issue by reorienting one or more instruments and their instrument mounting portions 169.

[0077] Figure 7 is a side schematic diagram of an embodiment of an instrument mounting portion 12 and an instrument 4 of a manipulator arm (e.g., manipulator arm 2) of a computer-assisted system (e.g., system 1), and Figure 8 For along Figure 7 A longitudinal end view of the same instrument mounting portion 12 and instrument 4 from a perspective observing in a distal direction parallel to axis A, taken along line YY. Figure 7-8 The schematic diagrams shown in the figure are abstracted for the purpose of explanation. Figure 7 As shown, the instrument mounting portion 12 supports the instrument 4. The instrument mounting portion 12 includes an instrument actuator 14 coupled to or integrated with the instrument 4. The instrument actuator 14 can be configured to operate the instrument 4 (e.g., such as by supplying power or force to cause the instrument 4 to perform a specific function). In some embodiments, as shown in FIG. Figure 7 As shown, the instrument actuator 14 is configured to move the instrument 4 around Figure 7-8The instrument 4 is rotated about a rolling axis designated as axis A in the figure, which in some embodiments can be a longitudinal axis. In this example, the rolling axis A is substantially parallel (e.g., parallel) to the axis of the instrument 4. Therefore, the instrument 4 has a rotational freedom in a rolling direction about the rolling axis A, which is controlled by the instrument actuator 14 in the depicted embodiment. The instrument 4 is also supported by a support 16 of the manipulator arm, which in some embodiments can guide the instrument 4. In some embodiments, the support 16 does not structurally affect the instrument 4. In some embodiments, the support 16 inhibits bending of the instrument 4, or can otherwise substantially maintain the straightness of the rolling axis A. The instrument 4 can support an end effector on the distal portion 5 of the instrument 4.

[0078] like Figure 7 As shown, the instrument mounting portion 12 includes a wrist joint 24. The wrist joint 24 is configured to allow the instrument mounting portion 12 to rotate around a rotation axis B of the wrist joint 24. In some embodiments, the wrist joint 24 may include an actuator (e.g., a motor) configured to rotate the instrument mounting portion 12 around the rotation axis B. Figure 7 In the embodiment of the present invention, the rotation axis B is parallel to the rolling axis A. Therefore, the instrument mounting portion 12 has a rotational degree of freedom corresponding to the rotational degree of freedom of the instrument 4 (e.g., rolling around the rotation axis B). Figure 7-8 In the embodiment of the present invention, the rotational degree of freedom is along the offset axis. Thus, although the orientational degree of freedom is redundant, rotation of one of the instrument 4 and the wrist joint 24 changes the position of the other of the instrument 4 and the wrist joint 24. For example, with the wrist joint 24 and the rotational axis B held in place, rotation of the instrument mounting portion 12 about the rotational axis B will result in a change in position (e.g., translation) of the instrument 4. It should be noted that although the orientational degree of freedom is redundant, rotation of the instrument 4 and the wrist joint 24 will change the position of the other of the instrument 4 and the wrist joint 24. Figure 7-8 An exemplary wrist joint 24 is shown in FIG. 1 , but any suitable linkage mechanism may be used to allow the instrument mounting portion 12 to rotate about a rotation axis B parallel to the rolling axis A of the instrument 4, as the present disclosure is not so limited. For example, referring to FIG. Fig. 9 and 10 Alternative arrangements are discussed further.

[0079] According to the depicted embodiment, the rotation axis B and the rolling axis A are structurally constrained to be parallel. That is, there is a zero angle difference between the rotation axis B and the rolling axis A. In other embodiments, the rotation axis B and the rolling axis A can be oriented to each other at a non-zero angle difference within a non-zero angle tolerance. That is, the rotation axis B and the rolling axis A can deviate from each other by up to an angle tolerance. In some embodiments, the angular tolerance between the rotation axis B and the rolling axis A is less than or equal to approximately 10 degrees, 7 degrees, 5 degrees, 3 degrees, or 1 degree. The angular tolerance can be measured in any rotational direction. For example, if the rolling axis A and the rotation axis B are not parallel and intersect at a certain point, there is a plane in which the rolling axis A and the rotation axis B are coplanar, and their difference in orientation can be described as the angular difference between them in the plane. As another example, if the rolling axis A and the rotation axis B are not parallel and do not intersect, there is no plane in which the rolling axis A and the rotation axis B are coplanar. In this case, the difference in orientation between the roll axis A and the rotation axis B may be described as the angular difference of one axis (eg, roll axis A) projected into the plane of the other axis (eg, the plane of rotation axis B).

[0080] In some embodiments, the longitudinal axis of the instrument 4 forms a roll axis A of the instrument 4. In some embodiments, the instrument mounting portion 12 can provide a different instrument rotation axis than the instrument longitudinal axis. In some embodiments, the second rotation axis can be provided within an angular tolerance of the instrument longitudinal axis. Figure 7 In the embodiment of the present invention, the instrument rolling axis A and the longitudinal axis of the instrument 4 are collinear.

[0081] like Figure 7-8 As shown, the instrument mounting portion 12 includes an interface 18. In the depicted embodiment, the interface 18 is disposed on the instrument actuator 14, although in other embodiments, the interface 18 may be disposed on the instrument mounting portion 12, the support 16, or another structure configured to support the instrument 4. The instrument actuator 14 may be configured as a button that an operator may press to disengage the instrument 4 from the instrument mounting portion 12. In other embodiments, the instrument actuator 14 may be a lever configured to be rotated to disengage the instrument 4 from the instrument mounting portion 12. In some embodiments, the interface 18 may not need to be engaged by an operator (e.g., operator O) in order to couple the instrument 4 to the instrument mounting portion 12. In some other embodiments, the interface 18 may be engaged by an operator in order to couple the instrument 4 to the instrument mounting portion 12. The interface 18 may be coupled to a latch or other structure configured to releasably secure the instrument 4 to the instrument mounting portion 12. As shown in FIG. Figure 7-8 As shown, the interface 18 is accessible from one side of the instrument mounting portion 12. For example, Figure 8As shown, the interface 18 is not accessible from the instrument mounting portion 12 relative to the right side of the page. Therefore, operation of the interface 18 by the operator may include manipulating the instrument mounting portion 12 from a certain direction or orientation. In the case where multiple instrument mounting portions 12 are employed, each instrument mounting portion is on a separate manipulator arm, and the orientation of the instrument mounting portion 12 may be different, thereby requiring the operator to change the operator's hand position or the operator's body position to interact with each of the interfaces of the instrument mounting portion 12. Therefore, as discussed above, the control system of the computer-assisted system (e.g., the control system 10 of the computer-assisted system 1) may be configured to determine one or more movements of the manipulator arm (e.g., the manipulator arm 2) to redirect the instrument mounting portion 12 to facilitate instrument replacement, instrument connection, or instrument disconnection. Further, one or more movements may include rotation of the instrument 4 about a roll axis A and rotation of the instrument 4 about a rotation axis B. In some embodiments, the rotation about the roll axis A and the rotation axis B may be in different directions, so that the instrument mounting portion 12 and the instrument 4 rotate in opposite directions. For example, the instrument 4 may rotate counterclockwise about the roll axis A (from Figure 8 The instrument mounting portion 12 rotates clockwise about the rotation axis B (from Figure 8 As used herein, rotation in opposite directions means changing orientation in opposite directions about parallel axes (e.g., the primary axes of yaw, pitch, and roll). For example, opposite rotations about an axis will include a first rotation about the axis with an increased angle and a second rotation about the axis with a decreased angle. Such an arrangement may allow the position and / or orientation of the instrument 4 to be maintained within a change tolerance as discussed below.

[0082] In some embodiments, it may be desirable to rotate the instrument 4 about the roll axis A and the instrument mounting portion 12 about the rotation axis B so that the position and / or orientation of the distal portion 5 of the instrument 4 remains within a change tolerance of the initial position and / or orientation. In some embodiments, the change tolerance may allow a small amount of movement so that the instrument can maintain its function and may not apply undesirable forces or undesirable contacts to its environment (e.g., body structures). In some embodiments, the change tolerance with respect to position may be less than or equal to approximately 10 mm, 8 mm, 5 mm, 3 mm, or 1 mm. In some embodiments, the change tolerance may be 5 mm or less. In some embodiments, the change tolerance with respect to orientation may be less than or equal to approximately 15 degrees, 10 degrees, 5 degrees, 3 degrees, or 1 degree about one or more principal axes of the instrument (e.g., pitch, roll, and yaw). In some embodiments, the change tolerance may be approximately or exactly zero so that when the instrument mounting portion 12 rotates about the rotation axis B, the distal portion 5 of the instrument 4 does not move relative to position or orientation. In such embodiments, the instrument mounting portion 12 and the instrument 4 can rotate, and other portions of the manipulator arm can move and / or rotate within the null space to allow the position and / or orientation of the instrument mounting portion to be adjusted while the position and / or orientation of the distal portion 5 of the instrument remains unchanged (e.g., the position and / or orientation does not change). The roll axis A of the instrument 4 and the rotation axis B of the instrument mounting portion 12 can provide redundant degrees of freedom, allowing the orientation of the instrument mounting portion 12 and the interface 18 without significantly changing the position and / or orientation of the distal portion 5 of the instrument 4 in a reference frame, such as a global reference frame or a local reference frame, as further discussed below. When the roll axis A is offset from the rotation axis B by an offset distance, the computer-assisted system can command additional movement of the associated manipulator arm's kinematic chain (e.g., one or more links and joints) to compensate for the offset of the axes and any associated position change of the distal portion 5 of the instrument as the instrument mounting portion 12 rotates about the rotation axis B. One such exemplary movement is Figures 12A-12B For example, multiple joints in the instrument chain located proximal to the instrument mounting portions 12a, 12b may be moved (e.g., rotated or translated) by multiple actuators in the manipulator arm to move the instrument mounting portions 12a, 12b while maintaining the distal portions 5 ( Fig. 12A and Fig. 12B The position and / or orientation of the

[0083] In some embodiments, the reference system for the movement of the instrument 4 and the instrument mounting portion 12 may be a global reference system. For example, the center of the earth establishes a global reference system relative to the earth. In some cases, the reference system may be a local reference system fixed relative to the orientation or position of the components of the computer-aided system. For example, the local reference system may be based on the reference system of the base of the manipulator assembly, the reference system of the surface or object (e.g., track, operating table base, wall, floor, etc.) on which the manipulator assembly is mounted or fixed to it, the reference system of the imaging device field of view, the reference system of the features in the workplace (or the workplace itself), the reference system of the entrance orientation into the workplace, etc. to establish. Such local reference systems may be real-time and move when the reference object or feature moves. In some embodiments, such reference systems may also be stored, such as just before moving around the rolling axis A, the rotation axis B, or any other part of the kinematic chain. In the context of surgical operations, the local reference system may be an option for the patient reference system. In some embodiments, since the patient is not a rigid body, such reference systems may be relative to a specific part of the patient, such as a specific anatomical feature, the entrance orientation into the workplace, etc. In some embodiments, the patient may move, such as due to external manipulation by surgical personnel, table motion, or patient motion, in which case the patient reference frame may move. According to exemplary embodiments herein, any reference frame may be employed to control motion of the instrument and instrument mounting portion.

[0084] according to Figure 7-8In an embodiment of the present invention, the instrument 4 and the instrument mounting portion 12 may be controlled by at least one processor of a control system (e.g., a control system 10). The control system 10 may be configured to receive an indication of instrument replacement, instrument connection, or instrument detachment. For example, the control system may receive operator input (e.g., a command) at an operator interface, a control panel, or other input device, which may indicate instrument replacement, instrument connection, or instrument detachment. In some embodiments, the indication may be automated (e.g., as part of an automated process). Upon receiving the indication, the control system may be configured to determine one or more movements of the instrument mounting portion 12 and the instrument 4 to change the orientation of the instrument mounting portion, thereby facilitating instrument replacement, instrument connection, or instrument detachment. In some embodiments, the control system may also determine one or more movements of a manipulator arm (e.g., a manipulator arm 2) supporting the instrument mounting portion 12. For example, one or more movements may include movement of multiple joints of a manipulator arm located proximal to the instrument mounting portion 12, which allows the instrument mounting portion 12 to change orientation while maintaining the orientation and / or position of the distal portion 5 of the instrument 4 and the associated end effector. In some embodiments, the control system may employ inverse kinematics to determine one or more movements of the manipulator arm, the instrument mounting portion 12, and the instrument 4. Once the one or more movements are determined, the control system can cause a plurality of actuators (e.g., motors, etc.) to perform the one or more movements to reorient the instrument mount portion 12. In some embodiments, a single indication can trigger the determination of movements of multiple instrument mount portions 12 and manipulator arms 2 (e.g., a first instrument mount portion and a second instrument mount portion).

[0085] In some embodiments, a target position or orientation of the instrument mounting portion 12 for instrument replacement (e.g., detachment and then attachment), instrument attachment, or instrument detachment may be predetermined (e.g., preselected during calibration, selected by an operator, etc.). In some embodiments, the control system may determine one or more movements in which the target orientation of the instrument mounting portion 12 is to orient the major axis at the target orientation. For example, the yaw axis (e.g., axis 254) of the instrument mounting portion 12 may be aligned with the direction of local gravity (e.g., vertically). As another example, the pitch axis (e.g., axis 253) of the instrument mounting portion 12 may be aligned with the horizontal direction (e.g., perpendicular to the direction of local gravity). Such an arrangement may allow the control system to repeatedly place the interface 18 in a position accessible to an operator (e.g., operator O). The control system may receive an indication, and regardless of the current orientation of the instrument mounting portion 12, the control system may determine one or more movements of the instrument mounting portion 12, the instrument 4, and the manipulator arm to place the instrument mounting portion 12 in a known orientation (or within a tolerance of that orientation). The target orientation may be based on the orientation of one or more major axes around the instrument mounting portion 12. Reference Figures 14A-16B Exemplary movements are discussed further.

[0086] Fig. 9 is a side schematic diagram of another embodiment of an instrument mounting portion 12 and an instrument 4 of a manipulator arm (e.g., manipulator arm 2) of a computer-assisted system (e.g., system 1), and Fig.10 For along Fig. 9 A longitudinal end view of the same instrument mounting portion 12 and instrument 4 from a perspective viewed in a distal direction parallel to the rolling axis A, taken along line ZZ. Figure 9-10 The schematic diagrams shown in the figure are abstracted for the purpose of explanation. Fig. 9 As shown, the instrument mounting portion 12 supports the instrument 4. The instrument mounting portion 12 includes an instrument actuator 14 coupled to or integrated with the instrument 4. The instrument actuator 14 can be configured to operate the instrument 4 (e.g., supply power or force to enable the instrument to perform its function). Fig. 9 In some embodiments shown, the instrument actuator 14 is configured to move the instrument 4 around Figure 9-10 The instrument 4 is rotated about a longitudinal rolling axis designated as axis A in FIG. The rolling axis A is substantially parallel (e.g., parallel) to the axis of the instrument 4. Thus, the instrument 4 has a rotational freedom in a rolling direction about the rolling axis A, which is controlled by the instrument actuator 14 in the depicted embodiment. The instrument 4 is also supported by a support 16. The instrument 4 can support an end effector on the distal portion 5 of the instrument 4.

[0087] according to Figure 9-10 In the embodiment of the present invention, the instrument mounting portion 12 includes a wrist joint 24. The wrist joint 24 is configured to allow the instrument mounting portion 12 to rotate about the rotation axis B of the wrist joint, similar to Figure 7-Figure 8 However, in Figure 9-10In an embodiment of the present invention, the rotation axis B is colinear with the roll axis A, so that the instrument mounting portion 12 and the instrument 4 share the same rotation axis. Therefore, the wrist joint 24 provides redundant degrees of freedom for the instrument 4. When the rotation axis B is colinear with the roll axis A, the rotation of the instrument mounting portion 12 around the rotation axis B can be offset by the reverse rotation of the instrument 4 without any change in the position of the instrument 4. However, when the instrument mounting portion 12 is offset relative to the rotation axis B, the position of the instrument mounting portion 12 will change. Such an arrangement allows the instrument mounting portion 12 to change its position and / or orientation around the rotation axis B without changing the position and / or orientation of any end effector on the instrument 4 and the distal portion 5 of the instrument 4. For example, when the rotation axis B is colinear with the roll axis A, the clockwise rotation of the instrument mounting portion 12 around the rotation axis B can be offset by the equal and opposite clockwise rotation of the instrument around the roll axis A. In this way, the orientation of the instrument 4 can be maintained relative to the global reference system and / or the local reference system even when the position and / or orientation of the instrument mounting portion 12 changes. For example, in some embodiments, the orientation of the instrument 4 may be maintained relative to the center of the earth (e.g., a global reference frame). As another example, in some embodiments, the orientation of the instrument 4 may be maintained relative to a local reference frame, which may be established based on a reference frame of the base of the manipulator assembly, a reference frame of a surface or object on which the manipulator assembly is mounted or affixed (e.g., a track, a surgical table base, a wall, a floor, etc.), a reference frame of the field of view of an imaging device, a reference frame of features in the workplace (or the workplace itself), a reference frame of an entrance location into the workplace, etc. As discussed above, such an arrangement may be desirable in the case of changing the position and / or orientation of the instrument mounting portion 12 to facilitate instrument exchange, instrument coupling, or instrument detachment.

[0088] and Figure 7-Figure 8Similar to the embodiments of the present invention, the instrument mounting portion 12 and the instrument 4 may be controlled by a control system (e.g., the control system 10). The control system may be configured to determine one or more movements to move the instrument mounting portion 12 to a target orientation or position for the instrument to be connected or disconnected, while maintaining the orientation and / or position of the distal portion 5 of the instrument 4 within a change tolerance. In some embodiments, the control system may be configured to determine one or more movements of the instrument mounting portion 12 and the instrument 4 to orient the instrument mounting portion 12 to a target position, while maintaining the orientation and / or portion of the distal portion 5 within a change tolerance. One or more movements may include a rotation of the instrument mounting portion 12 in a first direction around the rotation axis B. One or more movements may also include a rotation of the instrument 4 in a second opposite direction around the rotational roll axis A. Since the roll axis A and the rotation axis B are colinear, these rotations may be equal and opposite, so that the orientation of the instrument 4 relative to the global reference system does not change. Alternatively or additionally, in some embodiments, the orientation of the instrument relative to another reference system such as a local reference system may not change. For example, a local reference frame may be established based on a reference frame of the base of the manipulator assembly, a reference frame of a surface or object (e.g., a track, an operating table base, a wall, a floor, etc.) on which the manipulator assembly is mounted or affixed, a reference frame of the field of view of an imaging device, a reference frame of features in the workplace (or the workplace itself), a reference frame of an entrance location into the workplace, etc. Thus, one or more movements may not include movement of one or more links of the manipulator arm because redundant degrees of freedom are allowed via rotation of the wrist joint 24 and the instrument actuator 14. Thus, a null space may be employed to reorient the instrument mounting portion 12 without requiring movement of the instrument 4 relative to a global reference frame.

[0089] It should be noted that Figure 7-Figure 10 The embodiments are described with reference to a single instrument mounting portion 12 and instrument 4. However, in some embodiments, as will be discussed further below, multiple instrument mounting portions 12 and instruments 4 may be used as part of a computer-assisted system (e.g., system 1). These multiple instruments 4 and instrument mounting portions 12 may be controlled by one or more control systems that may determine one or more movements of each instrument 4, instrument mounting portion 12, and associated manipulator arm to orient and / or position the instrument mounting portion 12 for instrument exchange (e.g., detach and then attach), instrument attachment, or instrument detachment.

[0090] Fig.11 A flowchart depicting a method of operating a computer-assisted system (e.g., system 1) according to some embodiments, which method may be applicable to an exemplary Figure 7-Figure 10 The device 4 and the device mounting portion 12. In some embodiments, Fig.11The method may be performed by a control system (e.g., at least one processor of the control system). In box 300, an indication of an instrument connection or disconnection is received. In some embodiments, the indication may be received as an operator input (e.g., a command), which is received as an operator interface, a button or other input device. For example, an operator of a computer-assisted system may command the computer-assisted system at a control panel for instrument replacement, instrument connection or instrument disconnection. In other embodiments, the indication may be automated and / or based on the detection of one or more conditions. The control system may receive information about the instrument from one or more sensors, wherein the information may be used to detect one or more conditions. In some embodiments, the indication may be the complete use of a disposable item connected to the instrument. For example, a nail, tack or other fastener associated with the instrument may be consumed and need to be replaced. In some embodiments, the indication may be a maintenance service requirement for the instrument. For example, a sensor may indicate a less optimized function, or a clock may provide information about the service interval of the instrument. Other conditions or operating states such as steps through an automated or semi-automated process may also be used as indications. In some embodiments, the control system may autonomously determine the indication based on the operating state of the computer-assisted system. In some embodiments, the operating state of the computer-assisted system or its environment that may be used as an indication is the initial setting state of the computer-assisted system. In some embodiments, the operating state is that the instrument is not supported by the manipulator arm (e.g., the instrument does not yet exist). In some embodiments, the operating state is the completion of a program executed by the computer-assisted system. In some embodiments, the operating state is a failure of the computer-assisted system or a failure of the instrument. For example, the instrument may be stuck, the manipulator arm may fail, or any other number of failures may occur. In some embodiments, the operating state is an emergency. For example, the emergency may be initiated by an operator or by some information provided by a sensor. Thus, Fig.11 The indication of the method may be automated, operator initiated, or a combination thereof, as the present disclosure is not so limited.

[0091] like Fig.11 As shown, in optional box 302, the position of the operator (e.g., operator O) can be determined. In some embodiments, the position of the operator can be determined based on the position of the received indication. For example, the position of the operator can be based on the known position of the input device used by the operator to provide the indication. The known position can be adjacent to a workbench (e.g., a control panel, button, switch, etc.) associated with the computer-assisted system. In other embodiments, the position of the operator can be determined based on information provided by one or more sensors. For example, one or more cameras can image the environment of the computer-assisted system. According to some such examples, the control system can be configured to identify the position of the operator by image processing techniques or machine learning. In some embodiments, the position of the operator can be used to determine the orientation of the instrument mounting portion to facilitate the connection or disconnection of the instrument.

[0092] like Fig.11 As shown, in box 304, one or more movements of the instrument and the manipulator arm are determined to orient the instrument mounting portion of the manipulator arm for the instrument connection or disconnection. In some embodiments, the orientation of the instrument mounting portion for connection or disconnection can be predetermined. For example, the orientation can be based on aligning one or more main axes of the instrument mounting portion with the target direction or within the change tolerance of the target direction. In one such example, the pitch axis (e.g., the seventh axis 153) of the instrument mounting portion (e.g., the instrument mounting portion 12) can be parallel to the rolling axis of the instrument and can be aligned with the horizontal direction. One or more of the main axes of the instrument mounting portion can be aligned with the target direction or moved within the change tolerance of the target direction. In some embodiments, the target position and orientation can be based on the local reference system of the operating environment. For example, the instrument mounting portion can be oriented relative to the workbench where the manipulator arm is mounted or another base where the manipulator arm is mounted. In one such example, the instrument mounting portion can be installed so that the main axis of the instrument mounting portion is aligned within the angular tolerance of the target fixed angle relative to the workbench. In some embodiments, different target orientations can be assigned to different instrument mounting portions of the computer-assisted system.

[0093] In some embodiments, the orientation of the instrument mounting portion may vary according to one or more factors. For example, in some embodiments, the orientation of the instrument replacement, instrument connection or instrument detachment may be based at least in part on the determined orientation of the operator from the optional frame 302. In such examples, the instrument mounting portion may be oriented in a determined direction to facilitate instrument replacement, instrument connection or instrument detachment. In another such example, the instrument mounting portion may translate and rotate to orient and position the instrument mounting portion, thereby facilitating instrument replacement, instrument connection or instrument detachment. As another example, the factor may include the type of instrument, because in some cases, the instrument may be changed differently depending on the type of instrument. In some embodiments, the one or more movements determined in frame 304 may include the rotation of the instrument mounting portion around the first rotation axis and the rotation of the instrument around the second rotation axis. In some embodiments, the first rotation axis and the second rotation axis may be colinear. In other embodiments, the first rotation axis and the second rotation axis may be offset from each other by an offset distance. In some embodiments, the first rotation axis may be oriented within the angular tolerance of the second rotation axis. In some embodiments, the second rotation axis is the longitudinal rolling axis of the instrument. In some embodiments, the one or more movements may include translation and / or rotation of one or more of the plurality of links and translation and / or rotation through one or more of the plurality of joints in a kinematic chain of the manipulator arm.

[0094] like Fig.11As shown, in box 306, the change in the position or orientation (and in some embodiments, the position and orientation) of the distal portion of the instrument is limited to a change tolerance. In some embodiments, the limit can be incorporated into the step of box 304, where one or more movements are based on the limit of any change in the position or orientation of the distal portion of the instrument. Fig.11 In some embodiments, the restriction is a separate step of restricting the movement of the manipulator arm after determining one or more movements. In some embodiments, the change tolerance may be non-zero, but may be appropriately small to avoid applying undesirable forces or creating undesirable contact between the instrument and its environment. In some embodiments, the change tolerance may be zero or approximately zero.

[0095] like Fig.11 As shown, in block 308, multiple actuators are caused to move the instrument and manipulator arm based on the determined one or more movements and constraints of blocks 304 and 306. In some embodiments, the actuators may be integrated into one or more joints of the manipulator arm. In some embodiments, the control system may command multiple actuators to move according to the determined one or more movements. In some embodiments, inverse kinematics may be employed to command multiple actuators to achieve one or more movements.

[0096] In some embodiments, Fig.11 The method may be applicable to multiple instruments, each instrument being supported by a corresponding manipulator arm and instrument mounting portion. According to such embodiments, the method may include determining one or more movements of each manipulator arm and instrument to orient each instrument mounting portion for coupling or uncoupling. Figure 12A-12B Examples of methods of controlling multiple manipulator arms to facilitate instrument exchange, instrument coupling, or instrument detachment are further discussed.

[0097] Fig. 12A depicts a schematic plan view of one embodiment of a computer-assisted system in a first state, and Fig. 12B Describes the second state Fig. 12A Computer-aided systems. Figure 12A-12B The schematic diagram shown in is abstracted for the purpose of explanation and is derived from a diagram similar to Figure 8 and Fig.10 from the perspective of Fig. 12A As shown, the computer-assisted system includes two manipulator arms, each manipulator arm supports an instrument. For explanation purposes, the arms and instruments are shown with links and joints in the same plane. The first manipulator arm 2a includes a first link 20a connected by a first joint 22a. The first manipulator arm 2a supports a first instrument mounting portion 12a, which is connected to the distal portion of the first manipulator arm by a first wrist joint 24a. In addition to the first interface 18a, the first instrument mounting portion 12a may have a Figure 7-Figure 8The arrangement is similar to that of Fig. 12A As shown, the first interface 18a is disposed on the first instrument mounting portion 12a, rather than the first instrument actuator 14a. The first wrist joint 24a is configured to provide an axis of rotation to the first instrument mounting portion 12a. The first instrument actuator 14a is configured to provide an axis of rotation to the first instrument 4a. Figure 12A-12B In the embodiment of the present invention, the rotation axis of the first wrist joint 24a is offset from the rotation axis of the first instrument 4a by an offset distance. In other embodiments, the rotation axis of the first instrument mounting portion 12a and the first instrument 4a may be co-linear.

[0098] The second manipulator arm 2b is configured similarly to the first manipulator arm 2a. The second manipulator arm 2b includes a second link 20b connected by a second joint 22b. In other embodiments, additional joints may be used in the second manipulator arm 2b. The second manipulator arm 2b supports a second instrument mounting portion 12b, which is connected to a distal portion of the second manipulator arm 2b via a second wrist joint 24b. The second instrument mounting portion 12b includes a second interface 18b disposed on the second instrument mounting portion 12b. The second wrist joint 24b is configured to provide a rotation axis to the second instrument mounting portion 12b. The second instrument actuator 14b is configured to provide a rotation axis to the second instrument 4b. Figure 12A-12B In the embodiment of the present invention, the rotation axis of the second wrist joint 24b is offset from the rotation axis of the second instrument 4b by an offset distance. In other embodiments, the rotation axis of the second instrument mounting portion 12b and the second instrument 4b may be co-linear.

[0099] For comparison, Figure 12A-12B Schematic diagram depicts axes showing the orientation of the instrument mounting portions 12a, 12b and instruments 4a, 4b around their rotational axes (e.g., extending into the page). Axis C represents the orientation of the first instrument 4a around the rolling axis R_c of the first instrument 4a. Axis D represents the orientation of the first instrument mounting portion 12a around the rotational axis R_d provided by the first wrist joint 24a (e.g., a rotational axis parallel to the rolling axis of the second instrument and offset from the rolling axis). Axis E represents the orientation of the second instrument 4b around the rolling axis R_e of the second instrument. Axis F represents the orientation of the second instrument mounting portion 12b around the rotational axis R_f provided by the second wrist joint 24b (e.g., a rotational axis parallel to the rolling axis of the first instrument and offset from the rolling axis). Axes C, D, E, F are used for illustration and do not necessarily represent the main axes of the instruments and instrument mounting portions.

[0100] like Fig. 12AAs shown, the orientations (e.g., axes D and F) of the first instrument mounting portion 12a and the second instrument mounting portion 12b, respectively, may be different. The different orientations may be due to the specific process being performed by the computer-assisted system, or as a result of a previous movement to position or orient the instrument. As a result, the first interface 18a and the second interface 18b face in different directions. Thus, if the operator Fig. 12A In the state of using a computer-aided system to replace an instrument, the operator may need to adjust the position of the hand to the different orientations of the first interface 18a and the second interface 18b. In order to solve the different orientations of the instrument mounting parts 12a, 12b, in some embodiments, the control system may determine one or more movements of the first manipulator arm 2a and the first instrument 4a and the second manipulator arm 2b and the second instrument 4b to orient the first instrument mounting part 12a and the second instrument mounting part 12b, thereby facilitating instrument replacement, instrument connection or instrument detachment. For example, the first instrument mounting part 12a and the second instrument mounting part 12b may be oriented similarly to each other (e.g., within the angular tolerance of each other). For example, the main axes of the first instrument mounting part 12a and the second instrument mounting part 12b may be aligned with each other. In some embodiments, the main axes may be positioned within the angular tolerance of each other. As another example, the motion axes for operating the first interface 18a and the second interface 18b may be aligned within the angular tolerance. For example, the interfaces 18a, 18b may be operated by moving in a single direction (e.g., linear motion, rotation around a single axis, etc.). In this case, a single direction of each interface 18a, 18b can be aligned within an angular tolerance. The angular tolerance can be one or more degrees of freedom. The angular tolerance can be the angular difference in the plane used to align between the direction of the first interface 18a and the direction of the second interface 18b. In some embodiments, the angular tolerance of the alignment between the main axis of the instrument mounting portion 12a, 12b or the direction of the interface 18a, 18b can be less than or equal to 45 degrees, 30 degrees, 15 degrees, 10 degrees, or 5 degrees.

[0101] In some embodiments, the control system can be configured to minimize the angular difference between the instrument mounting portions 12a, 12b. However, in some cases, it is not possible to precisely align the instrument mounting portions 12a, 12b and reduce the angular difference to zero or approximately zero. For example, in some cases, such orientation may result in a collision between the instrument mounting portions 12a, 12b. In other cases, such orientation may result in the distal portion of the instrument moving out of the position or orientation change tolerance. Therefore, in the case where precise alignment is not possible due to one or more reasons, the control system may orient multiple instrument mounting portions 12a, 12b to within the angular tolerance of each other.

[0102] from Fig. 12AIn the state shown, the control system can determine one or more movements of the first manipulator arm 2a and the second manipulator arm 2b to orient the instrument mounting parts 12a, 12b for instrument replacement, instrument connection or instrument detachment. In particular, the control system can determine one or more movements to align the operating directions of the first interface 18a and the second interface 18b. One or more movements can be limited so that the orientation and position of the first instrument 4a and the second instrument 4b remain within the change tolerance. One or more movements may include rotation around the rotation axis of the instrument mounting parts 12a, 12b and the instruments 4a, 4b. As shown in FIG. Fig. 12B As shown, for the first manipulator arm 2a, the first instrument mounting portion 12a can rotate clockwise relative to the page, as illustrated by the change in direction of the axis D. Correspondingly, the first instrument 4a rotates in the opposite direction to the first instrument mounting portion 12a, counterclockwise relative to the page. Fig. 12B As shown, the direction of axis C does not change. One or more movements cause the first instrument mounting portion 12a and the first instrument 4a to rotate in opposite directions to maintain the orientation of the first instrument. For the second manipulator arm 2b, the second instrument mounting portion 12b rotates counterclockwise relative to the page, as illustrated by the change in direction of axis F. The second instrument 4b rotates clockwise relative to the page opposite to the direction of the second instrument mounting portion 12b to maintain the orientation of the second instrument 4b. Fig. 12B In embodiments where the rotational axes of instrument mounting portions 12a, 12b and instruments 4a, 4b are parallel, instruments 4a, 4b and instrument mounting portions 12a, 12b may rotate in opposite directions about their respective axes by equal angles.

[0103] according to Fig. 12B In an embodiment, when the axis of rotation of the instrument mounting part 12a, 12b is offset from the axis of rotation of the instrument, the one or more movements may also include a movement of one or more joints located proximal to the instrument mounting part 12a, 12b in the kinematic chain of each manipulator arm 2a, 2b. Fig. 12B As shown, the links 20a, 20b and joints 22a, 22b translate and rotate to allow the instrument mounting portions 12a, 12b to rotate about their respective rotational axes. Movement of one or more joints proximal to the instrument mounting portions 12a, 12b allows the position of the instruments 4a, 4b to be adjusted. Fig. 12A However, the orientation of the instrument mounting portions 12a, 12b (eg, axes D and F) is changed and the operating directions of the first interface 18a and the second interface 18b are aligned, as shown by axis X. Fig. 12BIn some embodiments, the operating directions of the interfaces 18a, 18b may be parallel and / or co-linear. In other embodiments, the operating directions of the interfaces 18a, 18b may be oriented within an angular tolerance of each other (eg, less than or equal to 45 degrees).

[0104] Fig.13 A flow chart depicting a method of operating a computer-assisted system according to some embodiments. Fig.13 The method may be performed by one or more control systems (e.g., at least one processor of one or more control systems). In block 310, an indication of an instrument being connected or disconnected is received. Fig.11 As discussed above, the indication may be based on operator input or one or more states of the computer-assisted system or its environment. In optional block 312, the position of the operator is determined. Fig.11 As discussed, the position of the operator may be determined based on the position of receiving the operator input or based on the determination using information provided by one or more sensors. In box 314, one or more movements of the first instrument and the first manipulator arm may be determined to orient the first instrument mounting portion for the instrument to be connected or disconnected. In box 316, one or more movements of the second instrument and the second manipulator arm may be determined to orient the second instrument mounting portion for the instrument to be connected or disconnected. One or more movements may include limiting the movement of the instrument to maintain the position and / or orientation of the instrument within a change tolerance. One or more movements may also include similarly orienting the first instrument mounting portion and the second instrument mounting portion. For example, the operating direction of the interface of each instrument mounting portion may be aligned within an angular tolerance. In box 318, a plurality of actuators may move the first manipulator arm and the second manipulator arm. For example, the control system may command the actuator to perform one or more determined movements. In some embodiments, inverse kinematics may be used to determine one or more movements and / or perform one or more determined movements.

[0105] Fig.14A depicts a schematic plan view of another embodiment of a computer-assisted system in a first state, and Fig. 14B Describes the second state Fig.14A Computer-aided systems. Figures 14A-14B Depicts how multiple instrument mounting portions 12a, 12b, 12c, 12d may be aligned to facilitate instrument replacement, instrument coupling, or instrument detachment. Fig.14AAs shown, each instrument mounting portion includes an interface 18a, 18b, 18c, 18d. The orientation of each instrument mounting portion is represented by an axis. Axis G represents the orientation of the first instrument mounting portion 12a. Axis H represents the orientation of the second instrument mounting portion 12b. Axis I represents the orientation of the third instrument mounting portion 12c. Axis J represents the orientation of the fourth instrument mounting portion 12d. Four instrument mounting portions are arranged on the workbench 3. Operator O controls and / or monitors the computer-aided system from the operator interface system 6. In some embodiments, a manipulator arm associated with a portion of the instrument mounting portion 12a, 12b, 12c, 12d may be located on a first side (e.g., a workplace) of the workbench 3. In some such embodiments, a manipulator arm associated with another portion of the instrument mounting portion 12a, 12b, 12c, 12d may be located on a second side of the workbench 3 opposite to the first side. In some cases, such an arrangement may be expected to achieve certain instrument orientations and positions while avoiding collisions or other restrictions between multiple manipulator arms. In some embodiments, the manipulator arms associated with the instrument mounting portions may be mounted to one or more carts. For example, each instrument mounting portion 12a, 12b, 12c, 12d may be mounted to a separate cart (e.g., four single manipulator arm carts). As another example, the first instrument mounting portion 12a and the second instrument mounting portion 12b may be mounted to a first cart, and the third instrument mounting portion 12c and the fourth instrument mounting portion 12d may be mounted to a second cart.

[0106] like Fig.14A As shown, the instrument mounting portions 12a, 12b, 12c, 12d are not aligned. Axis G and axis J are parallel but rotated 180 degrees from each other so that the interface is disposed in opposite directions relative to the operator O. Axis H and axis I are disposed at an angle intermediate between the directions of axis G and axis J. Thus, the instrument mounting portions are oriented within a 180 degree range within the plane of the page, which may make instrument changes difficult for the operator O. In other embodiments, the instrument mounting portions may be oriented within a larger or smaller range during normal operation. Although in Figure 14A-14B , but the orientation of the device mounting portion may also vary in other directions. Figure 14A-14B The process shown and described in can be applied to multiple degrees of freedom.

[0107] like Fig. 14BAs shown, the orientation of the instrument mounting portions 12a, 12b, 12c, 12d has changed, but the position of the instrument mounting portions remains unchanged. In some embodiments, the position of the instrument mounting portions 12a, 12b, 12c, 12d is based on the position of the center of mass of each instrument mounting portion. Therefore, the position of the instrument mounting portions 12a, 12b, 12c, 12d can be represented as a point in three-dimensional space. In such embodiments, the position of each instrument mounting portion 12a, 12b, 12c, 12d can be represented as a point in three-dimensional space. Fig.14A and Fig. 14B In some embodiments, the position of the instrument mounting portion may be represented by the position of one or more points, vectors, planes, or bodies in three-dimensional space. Figure 14A-14B In an embodiment, the control system receives instructions for instrument replacement, instrument coupling, or instrument detachment (e.g., from the operator interface system 6) and determines one or more movements to direct the instrument replacement, instrument coupling, or instrument detachment (e.g., Fig. 14B In some embodiments, a single indication may trigger the determination of movement of all instrument mounting portions 12a, 12b, 12c, 12d. Fig. 14B In an embodiment of the invention, the control system determines one or more movements based on the determined position of the operator O. For example, Fig.14A Compared to the state shown, axes G, H, I, and J are all oriented toward the operator O. In other embodiments, the orientation of the operator O may not be used, and the instrument mounting portion may be oriented toward a predetermined orientation (e.g., toward a side of the workbench 3, a foot of the workbench 3, etc.). In some embodiments, the orientation of the operator O may be determined based on input at the operator interface system 6. For example, the operator O may self-identify the orientation. As another example, receiving an operator input at the operator interface system 6 may indicate the orientation of the operator O. Fig. 14B As shown, the axes G, H, I, J are aligned within angular tolerances of each other. Fig. 14B In some embodiments, the interfaces 18a, 18b, 18c, 18d of the instrument mounting portions 12a, 12b, 12c, 12d may be similarly oriented relative to the hand of the operator O (e.g., within an angular tolerance such as 45 degrees). In some embodiments, the angular tolerance relative to the hand may be based on a comparison to a hand axis extending parallel to the forearm of the operator O.

[0108] In some embodiments, Figure 14A-14BBefore the manipulator arm and the instrument mounting portion 12a, 12b, 12c, 12d shown in the figure move, the computer-aided system can be configured to move the instrument supported by the instrument mounting portion 12a, 12b, 12c, 12d proximally away from the workbench 3 and the associated workplace (e.g., the patient's body in the medical example). The movement of the instrument can be along the longitudinal axis of the instrument (e.g., retraction), and such movement can achieve retraction in the sleeve in which the corresponding instrument is set. In the medical example, such proximal movement of the instrument can retract each instrument away from the patient and from the patient's body. In some embodiments, the operator O can confirm that the instrument can be removed from the workbench before the instrument moves proximally. For example, in the medical example, the operator O can confirm that any instrument is not attached to or holds tissue. In some embodiments, the operator O can confirm that the instrument can be moved at the operator interface system 6 before the instrument and the instrument mounting portion 12a, 12b, 12c, 12d move. In some embodiments, the manipulator arm including the instrument mounting portion may have a manual clutch override, thereby allowing the instrument mounting portion 12a, 12b, 12c, 12d to be manually moved by the operator O.

[0109] In some embodiments, Fig. 14B As shown, the instrument mounting portions 12a, 12b, 12c, 12d may not be oriented completely parallel to each other while maintaining the position and / or orientation of the supported instrument. In some embodiments, the computer-assisted system may determine one or more movements of the manipulator arm including the instrument mounting portion (e.g., the instrument mounting portion 12a, 12b, 12c, 12d) to reduce the error between the orientation of the instrument mounting portion and the target orientation of the instrument mounting portion while remaining within the limits of multiple actuators that affect the movement of the manipulator arm. In some embodiments, the target orientation may be within the angular tolerance of the orientation as discussed herein. In some embodiments, the angular tolerance may be zero so that the axes G, H, I, J of the instrument mounting portions 12a, 12b, 12c, 12d are parallel to each other. The error between the orientation and the target orientation may be based on one or more of the following: lack of a kinematic solution, an inactive arm that is obstructed from being fully movable, insufficient proximity margin to the active arm (e.g., to avoid collision), an undesirable amount of motion toward the patient, and a kinematic singularity. With such limitations, the computer-assisted system may attempt to reduce the error between the target orientation and the actual orientation of each instrument mounting portion 12a, 12b, 12c, 12d while maintaining the position and / or orientation of the supported instruments within the variation tolerance.

[0110] Fig.15A another schematic plan view depicting another embodiment of a computer-assisted system in a first state, and Fig. 15B Describes the second state Fig.15A Computer-aided systems. Figure 15A-15BAnother example of how multiple instrument mounting portions 12a, 12b, 12c, 12d may be aligned to facilitate instrument replacement, instrument coupling, or instrument detachment is depicted. Fig.15A As shown, each instrument mounting portion includes an interface 18a, 18b, 18c, 18d. The orientation of each instrument mounting portion is represented by an axis. Axis G represents the orientation of the first instrument mounting portion 12a. Axis H represents the orientation of the second instrument mounting portion 12b. Axis I represents the orientation of the third instrument mounting portion 12c. Axis J represents the orientation of the fourth instrument mounting portion 12d. The four instrument mounting portions 12a, 12b, 12c, 12d are arranged on the workbench 3. The operator O controls and / or monitors the computer-aided system from the operator interface system 6.

[0111] like Fig.15A As shown, the instrument mounting portions 12a, 12b, 12c, 12d are not aligned. Axis G and axis J are parallel but rotated 180 degrees from each other so that the interface is set in opposite directions relative to the operator O. Axis H and axis I are set at an intermediate angle between the directions of axis G and axis J. Therefore, the instrument mounting portions are oriented within a range of 180 degrees, which can make it difficult for the operator O to change instruments, connect instruments, or disconnect instruments. In other embodiments, during normal operation, the instrument mounting portions can be oriented within a larger or smaller range. Although in Figure 15A-15B , but the orientation of the device mounting portion may also vary in other directions. Figure 15A-15B The process shown and described in can be applied to multiple degrees of freedom.

[0112] like Fig. 15B As shown, both the orientation and position of the instrument mounting portions 12a, 12b, 12c, 12d have been changed. Figure 15A-15B In an embodiment, the control system receives instructions for instrument exchange, instrument coupling, or instrument detachment (e.g., from the operator interface system 6) and determines one or more movements to orient and position the instrument for instrument exchange, instrument coupling, or instrument detachment (e.g., Fig. 15B The device mounting parts 12a, 12b, 12c, 12d are shown in the state shown in FIG. Fig. 15B In an embodiment of the invention, the control system determines one or more movements based on the determined position of the operator O. For example, Fig.15A Compared to the state shown, the axes G, H, I, J are all oriented toward the operator O. In addition, Fig.15A Compared with the state of , the instrument mounting parts 12a, 12b, 12c, 12d are all moved closer to the operator O.

[0113] Fig.16A another schematic plan view depicting another embodiment of a computer-assisted system in a first state, and Fig. 16B Describes the second state Fig.16A Computer-aided systems. Figure 16A-16B Another example of how multiple instrument mounting portions 12a, 12b, 12c, 12d may be aligned to facilitate instrument replacement, instrument coupling, or instrument detachment is depicted. Fig.16A As shown, each instrument mounting portion includes an interface 18a, 18b, 18c, 18d. The orientation of each instrument mounting portion is represented by an axis. Axis G represents the orientation of the first instrument mounting portion 12a. Axis H represents the orientation of the second instrument mounting portion 12b. Axis I represents the orientation of the third instrument mounting portion 12c. Axis J represents the orientation of the fourth instrument mounting portion 12d. The four instrument mounting portions 12a, 12b, 12c, 12d are arranged on the workbench 3. The operator O controls and / or monitors the computer-aided system from the operator interface system 6.

[0114] like Fig.16A As shown, the instrument mounting portions are misaligned. Axis G and axis J are parallel but rotated 180 degrees from each other so that the interface is disposed in opposite directions relative to the operator O. Axis H and axis I are disposed at an angle intermediate between the directions of axis G and axis J. Thus, the instrument mounting portions are oriented within a 180 degree range, which may make instrument changes, instrument couplings, or instrument detachments difficult for the operator. In other embodiments, the instrument mounting portions may be oriented within a larger or smaller range during normal operation. Although in Figure 16A-16B , but the orientation of the device mounting portion may also vary in other directions. Figure 16A-16B The process shown and described in can be applied to multiple degrees of freedom.

[0115] like Fig. 16B As shown, the orientation of the instrument mounting portions 12a, 12b, 12c, 12d has changed, but the position has not changed. Figure 16A-16B In an embodiment, the control system receives instructions for instrument exchange, instrument coupling, or instrument detachment (e.g., from the operator interface system 6) and determines one or more movements to orient and position the instrument for instrument exchange, instrument coupling, or instrument detachment (e.g., Fig. 16B The device mounting parts 12a, 12b, 12c, 12d are shown in the state shown in FIG. Fig. 16B In an embodiment of the present invention, the control system determines one or more movements based on the determined position of the service technician S. For example, Fig.16A Compared to the state shown, the axes G, H, I, J are all oriented toward the service technician S. The instrument mounting portions 12a, 12b, 12c, 12d are not oriented toward the operator O at the operator interface system 6. Fig. 16BIn an embodiment of the present invention, when providing an indication of an instrument change, instrument coupling, or instrument detachment, the operator O may provide the location (e.g., select the location) of the service technician S. Thus, the control system may determine one or more movements of the instrument mounting portions 12a, 12b, 12c, 12d based on the identified location of the service technician S (e.g., the second operator).

[0116] according to Figures 14A-16B In an embodiment, each of the instrument mounting portions 12a, 12b, 12c, 12d moves when an indication of instrument replacement, instrument coupling, or instrument detachment is received. In some embodiments, where multiple manipulator arms are employed, the control system may be configured to determine whether each manipulator arm supports an instrument. For example, a sensor may be employed to notify the control system about the presence of an instrument. As another example, if the instrument is present, a communication link may be established with the instrument, and the lack of a communication link may indicate that the instrument is not present. In some embodiments, if the control system determines that the manipulator arm is not supporting an instrument, the control system may not cause (e.g., command) multiple actuators to move the manipulator arm that is not supporting the instrument. In this case, the manipulator arm may not be used during a particular process, so that the control system may ignore the unused manipulator arm for the purpose of instrument replacement, instrument coupling, or instrument detachment.

[0117] According to embodiments of the present invention, a computer-assisted system can operate with six degrees of freedom. For example, six degrees of freedom may include Cartesian directions (e.g., X, Y, Z) and rotations (e.g., pitch, roll, yaw) around Cartesian directions. As discussed herein, the rotation and positioning of the instrument mounting portion may be based on maintaining the instrument within a change tolerance of the initial position and / or orientation. Therefore, embodiments of the present invention may have at least one redundant degree of freedom. For example, a computer-assisted system as described herein may have seven or more degrees of freedom to allow zero-space movement of the instrument mounting portion while maintaining the position and / or orientation of the instrument. In some embodiments, multiple joints of a manipulator arm may provide the manipulator arm with more degrees of freedom than the number of degrees of freedom associated with a single solution for command motion, position or orientation of the manipulator arm. Therefore, a control system may enable an actuator system to enable multiple actuators to move the manipulator arm to achieve the target motion of the instrument mounting portion of the manipulator arm and the supported instrument, including maintaining the supported instrument at a target orientation and / or position within a change tolerance.

[0118] The above-described embodiments of the technology described herein can be implemented in any of a variety of ways. For example, the embodiments can be implemented using hardware, software, or a combination thereof. When implemented in software, the software code can be executed on any suitable processor or processor set, whether provided in a single computer or distributed in multiple computers. Such processors can be implemented as integrated circuits, with one or more processors in an integrated circuit component, which includes commercially available integrated circuit components such as CPU chips, GPU chips, microprocessors, microcontrollers, or coprocessors known in the art. Alternatively, the processor can be implemented in a custom circuit system such as an ASIC or in a semi-custom circuit system generated by configuring a programmable logic device. As another alternative, whether commercially available, semi-custom, or custom, the processor can be part of a larger circuit or semiconductor device. As a specific example, some commercially available microprocessors have multiple cores, so that one or a subset of these cores can constitute a processor. However, a circuit system in any suitable form can be used to implement the processor.

[0119] The term "program" or "software" is used in this article in a general sense to refer to any type of computer code or computer executable instruction set that can be used to program a computer or other processor to implement various aspects of the present disclosure as discussed above. Additionally, it should be understood that according to one aspect of this embodiment, one or more computer programs that perform the methods of the present disclosure when executed do not need to reside on a single computer or processor, but can be distributed in a modular manner among multiple different computers or processors to implement various aspects of the present disclosure.

[0120] Computer executable instructions may be in many forms, such as program modules that are executed by one or more computers or other devices. Typically, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. Typically, in various embodiments, the functionality of the program modules may be combined or distributed as desired.

[0121] In addition, the data structure can be stored in a computer-readable medium in any suitable form. To simplify the description, the data structure can be shown as having fields that are related by location in the data structure. Such relationships can also be achieved by allocating storage for the fields with locations in the computer-readable medium that convey the relationship between the fields. However, any suitable mechanism can be used to establish the relationship between the information in the fields of the data structure, including by using pointers, tags, or other mechanisms that establish relationships between data elements.

[0122] The various aspects of the present disclosure may be used alone, in combination, or in various arrangements not specifically discussed in the aforementioned described embodiments, and therefore are not limited in this application to the details and arrangements of the components set forth in the aforementioned description or illustrated in the accompanying drawings. For example, the various aspects described in one embodiment may be combined in any manner with the various aspects described in other embodiments.

[0123] In addition, the embodiments described herein may be embodied as methods for which examples have been provided. The actions performed as part of the method may be ordered in any suitable manner. Thus, embodiments may be constructed that perform actions in an order different from that described, and embodiments may include performing some actions simultaneously even though the actions are shown as sequential in the illustrative embodiments.

[0124] Further, some actions are described as being performed by an “operator.” It should be understood that an “operator” need not be a single individual, and in some embodiments, actions attributable to an “operator” may be performed by a team of individuals and / or an individual in conjunction with computer-assisted tools or other mechanisms.

[0125] Although the present teaching has been described in conjunction with various embodiments and examples, it is not intended that the present teaching be limited to such embodiments or examples. On the contrary, as will be appreciated by those skilled in the art, the present teaching encompasses various alternatives, modifications and equivalents. Therefore, the foregoing description and accompanying drawings are intended only as examples.

Claims

1. A computer-aided system comprising: a manipulator arm comprising a plurality of links coupled by a plurality of joints in a kinematic chain, wherein one of the plurality of links comprises an instrument mounting portion configured to support an instrument, wherein the manipulator arm is configured to rotate the instrument mounting portion about a first rotation axis, and wherein the manipulator arm or the instrument is configured to rotate the instrument relative to the instrument mounting portion and about a second rotation axis; a plurality of actuators actuatable to move the manipulator arms and the instrument; as well as A control system comprising at least one processor, the control system being configured to: Receive instructions for connecting or disconnecting the device, In response to receiving the indication, determining one or more movements of the instrument and the manipulator arm to orient the instrument mounting portion for coupling or decoupling the instrument while limiting changes in the position or orientation of the distal portion of the instrument to within a variation tolerance, the one or more movements of the instrument and the manipulator arm comprising: a first rotation of the instrument mounting portion about the first rotation axis and a second rotation of the instrument about the second rotation axis, and The plurality of actuators are caused to move the instrument and the manipulator arm based on the determined one or more movements.

2. The computer-aided system according to claim 1, wherein: The instrument includes a shaft having a rolling axis and an end effector coupled distally to the shaft; When the instrument mounting portion is supporting the instrument, the first rotational axis deviates from the rolling axis by less than a first angular tolerance; as well as When the instrument mounting portion is supporting the instrument, the second rotational axis deviates from the roll axis by less than a second angular tolerance.

3. The computer-aided system of claim 1, wherein the change tolerance is no change in position and no change in orientation.

4. A computer-assisted system according to claim 1, wherein when the instrument mounting portion is supporting the instrument, the first rotation axis is parallel to the second rotation axis, wherein the first rotation is in a first direction, and wherein the second rotation is in a second direction opposite to the first direction.

5. A computer-assisted system according to claim 4, wherein the multiple joints provide degrees of freedom to allow a range of joint states of the multiple joints for the same state of the distal portion, wherein the first rotation axis is parallel to the second rotation axis, wherein the first rotation axis and the second rotation axis are not co-linear and are offset from each other by an offset distance, and wherein the one or more movements include movement of one or more joints of the multiple joints in the kinematic chain located proximal to the instrument mounting portion.

6. The computer-aided system of claim 1, wherein: The control system is further configured to determine the position of the operator; as well as The control system is configured to determine the one or more movements by determining one or more motions of the plurality of joints to orient the instrument mounting portion toward a determined orientation of the operator.

7. The computer-aided system of claim 1 , wherein the control system is further configured to: The plurality of actuators are retracted the instrument based on the one or more movements of the instrument and the manipulator arm before causing the plurality of actuators to move the instrument and the manipulator arm.

8. The computer-assisted system of claim 1 , wherein the control system is configured to determine the one or more movements by: The one or more movements are determined to reduce an error between an orientation of the instrument mounting portion and a target orientation while remaining within limits of the plurality of actuators.

9. The computer-assisted system of any one of claims 1 to 8, wherein the manipulator arm is a first manipulator arm, wherein the plurality of links is a first plurality of links, wherein the plurality of joints is a first plurality of joints, wherein the instrument mounting portion is a first instrument mounting portion, wherein the instrument is a first instrument, wherein the one or more movements are one or more first movements, wherein the change tolerance is a first change tolerance, and wherein the computer-assisted system further comprises: a second manipulator arm comprising a second plurality of links coupled by a second plurality of joints in a second kinematic chain, wherein one of the links of the second plurality of links comprises a second instrument mounting portion configured to support a second instrument, wherein the second manipulator arm is configured to rotate the second instrument mounting portion about a third rotation axis, and wherein the second manipulator arm or the second instrument is configured to rotate a portion of the second instrument relative to the second instrument mounting portion and about a fourth rotation axis, wherein the plurality of actuators are further actuatable to move the second manipulator arm and the second instrument, and wherein the control system is further configured to: responsive to receiving the indication, further determining one or more second movements of the second instrument and the second manipulator arm to orient the second instrument mounting portion for coupling or uncoupling the instrument while limiting a change in position or orientation of a distal portion of the second instrument to within a second change tolerance, and The plurality of actuators are caused to move the second instrument and the second manipulator arm based on the determined one or more second movements.

10. The computer-assisted system of claim 9, wherein the one or more first movements and the one or more second movements are configured to orient the first instrument mounting portion and the second instrument mounting portion within an angular tolerance of each other relative to an operator of the computer-assisted system.

11. The computer-assisted system of claim 10, wherein the first instrument comprises a first instrument interface, wherein the second instrument comprises a second instrument interface, and wherein the one or more first movements and the one or more second movements are configured to orient the first instrument mounting portion and the second instrument mounting portion within an angular tolerance of each other by: The first instrument interface and the second instrument interface are oriented to be actuatable by a same hand of an operator, wherein the orientation of the hand does not change by more than 45 degrees.

12. The computer-assisted system of claim 10, wherein the first manipulator arm and the second manipulator arm are configured to be located on opposite sides of a workspace of the computer-assisted system.

13. The computer-aided system of claim 9, wherein the control system is further configured to: determining whether the first manipulator arm is supporting the first instrument; determining whether the second manipulator arm is supporting the second instrument; when it is determined that the first manipulator arm is not supporting the first instrument, not causing the plurality of actuators to move the first instrument and the second manipulator arm in response to receiving the indication; as well as When it is determined that the second manipulator arm is not supporting the second instrument, the plurality of actuators are not caused to move the second instrument and the second manipulator arm in response to receiving the indication.

14. A computer-assisted system according to any one of claims 1 to 8, wherein the indication is from a command received from an operator for an instrument to be coupled or uncoupled.

15. The computer-aided system according to any one of claims 1 to 8, wherein the control system is further configured to: The indication is autonomously determined based on an operating state or operating environment of the computer-assisted system or the instrument, rather than based on a command received from an operator for instrument coupling or instrument decoupling.

16. The computer-assisted system of claim 15, wherein the operating state or operating environment of the computer-assisted system or the instrument comprises at least one parameter selected from the group consisting of: Complete use of disposable items coupled to the device; An initial setup state of the computer-aided system; said instrument is not supported by said manipulator arm; completion of a program performed by said computer-assisted system; Failure of the computer-aided system; Failure of the device; Emergency; as well as The equipment requires maintenance or service.

17. A computer-aided system comprising: a first manipulator arm comprising a first plurality of links coupled by a first plurality of joints in a first kinematic chain, wherein a link of the first plurality of links comprises a first instrument mounting portion configured to support a first instrument; a second manipulator arm comprising a second plurality of links coupled by a second plurality of joints in a second kinematic chain, wherein links of the second plurality of links comprise a second instrument mounting portion configured to support a second instrument; a plurality of actuators actuatable to move the first manipulator arm and the first instrument, and further actuatable to move the second manipulator arm and the second instrument; as well as A control system comprising at least one processor, the control system being configured to: Receive instructions for connecting or disconnecting the device, responsive to the indication, determining one or more first movements of the first manipulator arm and one or more second movements of the second manipulator arm to orient the first instrument mount portion and the second instrument mount portion within an angular tolerance of each other, and The plurality of actuators are caused to move the first manipulator arm and the second manipulator arm based on the one or more first movements and the one or more second movements.

18. The computer-aided system of claim 17, wherein: The first manipulator arm is configured to rotate the first instrument mounting portion about a first rotation axis, and wherein the first manipulator arm or the first instrument is configured to rotate the first instrument relative to the first instrument mounting portion and about a second rotation axis; the second manipulator arm being configured to rotate the second instrument mounting portion about a third rotational axis, and wherein the second manipulator arm or the second instrument is configured to rotate the second instrument relative to the second instrument mounting portion and about a fourth rotational axis; The one or more first movements include a first rotation of the first instrument mounting portion about the first rotation axis and a second rotation of the instrument about the second rotation axis, and limit a change in position or orientation of the first distal portion of the first instrument to within a first change tolerance; as well as The one or more second movements include a third rotation of the second instrument mounting portion about the third rotation axis and a fourth rotation of the second instrument about the fourth rotation axis, and limit a change in position or orientation of the second distal portion of the second instrument to within a second change tolerance.

19. The computer-aided system of claim 17, wherein: The control system is further configured to determine the position of the operator; The control system is configured to determine the one or more first movements by: determining one or more motions of the first plurality of joints to orient the first instrument mounting portion toward the orientation of the operator; as well as The control system is configured to determine the one or more second movements by determining one or more motions of the second plurality of joints to orient the second instrument mounting portion toward the orientation of the operator.

20. The computer-assisted system of claim 17, wherein the first instrument comprises a first instrument interface, wherein the second instrument comprises a second instrument interface, and wherein the one or more first movements and the one or more second movements are configured to orient the first instrument mounting portion and the second instrument mounting portion within an angular tolerance of each other by: The first instrument interface and the second instrument interface are oriented to be actuatable by a same hand of an operator, wherein the orientation of the hand does not change by more than 45 degrees.

21. The computer-aided system according to any one of claims 17 to 20, wherein the control system is further configured to: determining whether the first manipulator arm is supporting the first instrument; determining whether the second manipulator arm is supporting the second instrument; when it is determined that the first manipulator arm is not supporting the first instrument, not causing the plurality of actuators to move the first instrument and the first manipulator arm in response to receiving the indication; as well as When it is determined that the second manipulator arm is not supporting the second instrument, the plurality of actuators are not caused to move the second instrument and the second manipulator arm in response to receiving the indication.

22. A method of controlling a computer-assisted system, the computer-assisted system comprising a manipulator arm, the manipulator arm comprising a plurality of links connected by a plurality of joints in a kinematic chain, wherein one of the plurality of links comprises an instrument mounting portion configured to support an instrument and a plurality of actuators configured to move the manipulator arm and the instrument, wherein the plurality of actuators are configured to rotate the instrument mounting portion about a first rotation axis, and wherein the manipulator arm or the instrument is configured to rotate the instrument relative to the instrument mounting portion and about a second rotation axis, the method comprising: Receive instructions for device connection or disconnection; In response to receiving the indication, determining one or more movements of the instrument and the manipulator arm to orient the instrument mounting portion for coupling or decoupling of the instrument while limiting a change in position or orientation of a distal portion of the instrument to within a variation tolerance, the one or more movements of the instrument and the manipulator arm comprising a first rotation of the instrument mounting portion about the first rotation axis and a second rotation of the instrument about the second rotation axis; and The plurality of actuators are caused to move the instrument and the manipulator arm based on the determined one or more movements.

23. The method of claim 22, wherein the first axis of rotation is parallel to the second axis of rotation, and wherein the first rotation is in a first direction and the second rotation is in a second direction opposite to the first direction.

24. A method according to claim 22, wherein the multiple joints provide degrees of freedom to allow a range of joint states of the multiple joints for the same state of the distal portion, wherein the first rotation axis is parallel to the second rotation axis, wherein the first rotation axis and the second rotation axis are not co-linear and are offset from each other by an offset distance, and wherein the manipulator arm and wherein the one or more movements include movement of one or more joints of the multiple joints in the kinematic chain located proximal to the instrument mounting portion.

25. The method of claim 22, further comprising: Determining the location of the operator; and The one or more movements are determined by determining one or more motions of the plurality of joints to orient the instrument mounting portion toward a determined orientation of the operator.

26. The method of any one of claims 22 to 25, wherein the manipulator arm is a first manipulator arm, wherein the plurality of links is a first plurality of links, wherein the plurality of joints is a first plurality of joints, wherein the instrument mounting portion is a first instrument mounting portion, wherein the instrument is a first instrument, wherein the one or more movements are one or more first movements, wherein the change tolerance is a first change tolerance, wherein the method further comprises: responsive to the indication, determining one or more second movements of the second instrument and the second manipulator arm to orient the second instrument mounting portion for coupling or decoupling the second instrument while limiting a change in position or orientation of the distal portion of the second instrument to within a second change tolerance, and The plurality of actuators are caused to move the second instrument and the second manipulator arm based on the determined one or more second movements.

27. The method of claim 26, wherein the one or more first movements and the one or more second movements are configured to orient the first instrument mounting portion and the second instrument mounting portion within an angular tolerance of each other relative to an operator of the computer-assisted system.

28. The method of claim 26, further comprising: determining whether the first manipulator arm is supporting the first instrument; determining whether the second manipulator arm is supporting the second instrument; when it is determined that the first manipulator arm is not supporting the first instrument, not causing the plurality of actuators to move the first instrument and the first manipulator arm in response to the indication; and When it is determined that the second manipulator arm is not supporting the second instrument, the plurality of actuators are not caused to move the second instrument and the second manipulator arm in response to the indication.

29. A method of controlling a computer-assisted system, the computer-assisted system comprising a first manipulator arm, a second manipulator arm, and a plurality of actuators, wherein the first manipulator arm comprises a first plurality of links coupled by a first plurality of joints in a first kinematic chain, wherein one of the first plurality of links comprises a first instrument mounting portion configured to support a first instrument, wherein the second manipulator arm comprises a second plurality of links coupled by a second plurality of joints in a second kinematic chain, wherein one of the second plurality of links comprises a second instrument mounting portion configured to support a second instrument, wherein the plurality of actuators are actuatable to move the first manipulator arm and the first instrument and the second manipulator arm and the second instrument, the method comprising: Receive instructions for device connection or disconnection; responsive to the indication, determining one or more first movements of the first manipulator arm and one or more second movements of the second manipulator arm to orient the first instrument mount portion and the second instrument mount portion within an angular tolerance of each other; and The plurality of actuators are caused to move the first manipulator arm and the second manipulator arm based on the one or more first movements and the one or more second movements.

30. The method of claim 29, wherein: The first manipulator arm is configured to rotate the first instrument mounting portion about a first rotation axis, and wherein the first manipulator arm or the first instrument is configured to rotate the first instrument relative to the first instrument mounting portion and about a second rotation axis; the second manipulator arm being configured to rotate the second instrument mounting portion about a third rotational axis, and wherein the second manipulator arm or the second instrument is configured to rotate the second instrument relative to the second instrument mounting portion and about a fourth rotational axis; The one or more first movements include a first rotation of the first instrument mounting portion about the first rotation axis and a second rotation of the first instrument about the second rotation axis, and limit a change in position or orientation of the first distal portion of the first instrument to within a first change tolerance; as well as The one or more second movements include a third rotation of the second instrument mounting portion about the third rotation axis and a fourth rotation of the second instrument about the fourth rotation axis, and limit a change in position or orientation of the second distal portion of the second instrument to within a second change tolerance.

31. The method of claim 29, wherein: The method further comprises: determining a position of an operator; determining the one or more first movements comprises determining one or more motions of the first plurality of joints to orient the first instrument mounting portion toward the orientation of the operator; as well as Determining the one or more second movements includes determining one or more motions of the second plurality of joints to orient the second instrument mounting portion toward the orientation of the operator.

32. The method of claims 29 to 31, further comprising: determining whether the first manipulator arm is supporting the first instrument; determining whether the second manipulator arm is supporting the second instrument; when it is determined that the first manipulator arm is not supporting the first instrument, not causing the plurality of actuators to move the first instrument and the first manipulator arm in response to receiving the indication; and When it is determined that the second manipulator arm is not supporting the second instrument, the plurality of actuators are not caused to move the second instrument and the second manipulator arm in response to receiving the indication.

33. A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor associated with a computer-assisted system, cause the at least one processor to perform the method of any one of claims 22 to 32.

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