Arrival assist motion for computer-aided systems

Abstract

Determining a command arrival assist motion for a computer-aided system including a repositionable component is disclosed. The repositionable assembly includes: a proximal repositionable structure having a distal portion; a distal repositionable structure supporting the instrument; a sensor system; an input device; and a control system. The control system is configured to command movement of the plurality of joints in response to receiving a movement command from the input device, the movement pivoting the distal portion about a remote center of movement. The control system is further configured to determine to reconfigure the proximal repositionable structure based on a sensor signal generated by the sensor system, and to command the proximal repositionable structure to move the distal portion relative to the workspace in response to determining to reconfigure the proximal repositionable structure, therefore, the accessible space of the instrument moves relative to the working space.

Description

[0001] Related applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 515,320, filed July 24, 2023, entitled “Reach Assist Motion for Computer-assisted Systems,” and U.S. Provisional Application No. 63 / 603,932, filed November 29, 2023, entitled “Reach Assist Motion for Computer-assisted Systems.” The subject matter of each of these applications is incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to computer-aided systems, and more specifically to adjusting the accessibility of instruments supported by computer-aided systems. Background Technology

[0004] Computer-aided systems are typically used to perform or assist processes in a workspace. In an example computer-aided system with remote operation, an operator at a user input system manipulates a leader device (e.g., an input device configured to receive commands for a follower device) to induce movement in the follower device (e.g., a remotely operable repositionable component, including repositionable structures with or without supported instruments). In this example, the movement of the leader device relative to the operator's reference frame is used to determine the corresponding movement command for the follower device relative to the field of view of the imaging device.

[0005] For example, a computer-aided system may include a repositionable assembly comprising a proximal repositionable structure and one or more distal repositionable structures. One or more distal repositionable structures are attached to the distal portion of the proximal repositionable structure. Each of the distal repositionable structures is configured to support one or more instruments. When the computer-aided system operates the repositionable assembly to move instruments within the workspace, the actuation motion of the repositionable assembly is typically determined, or mechanically constrained, to pivot the distal portion of the proximal repositionable structure about a remote center of motion (RCM), or to translate one or more instruments parallel to the insertion axis (e.g., in the insertion or retraction direction relative to one or more instruments). Because the movement of the instruments and the distal repositionable structures is restricted, in the case of the distal portion, the workspace accessible to the end effectors of one or more instruments is also limited.

[0006] Therefore, improved technologies are desired for moving workspaces and adjusting the reach of instruments supported by computer-aided systems. Summary of the Invention

[0007] Consistent with some embodiments, a computer-aided system includes a repositionable component. The repositionable component includes a proximal repositionable structure. The proximal repositionable structure includes a distal portion and a plurality of joints coupling the distal portion to a base. The plurality of joints provide sufficient degrees of freedom to allow a series of joint states for the same state of the distal portion. The repositionable component also includes a distal repositionable structure attached to the distal portion. The distal repositionable structure is configured to support a working portion of the instrument and to move the working portion within an accessible space. The repositionable component further includes a sensor system configured to provide sensor signals indicative of the physical configuration of the repositionable component. The repositionable component also includes a control system comprising one or more processors. The control system is configured to: in response to receiving a motion command from an input device, command the movement of a plurality of joints, the movement causing a distal portion to pivot about a remote motion center located at a first location relative to the workspace; determine, at least based on sensor signals, whether to command the reconfiguration of a proximal repositionable structure to move the distal portion relative to the workspace, such that the accessible space moves relative to the workspace; and in response to the determination of the reconfiguration command, command the proximal repositionable structure to move the distal portion relative to the workspace, while repositioning the remote motion center relative to the distal portion, such that the accessible space moves relative to the workspace and the remote motion center remains at the first location.

[0008] Consistent with some implementations, a method of operating a repositionable component includes: a control system commanding movement of a plurality of joints of a proximal repositionable structure of the repositionable component in response to receiving a motion command from an input device, the movement causing a distal portion of the proximal repositionable structure to pivot about a remote motion center located at a first position relative to a workspace; the control system determining, at least based on sensor signals indicating the physical configuration of the repositionable component, whether to command a reconfiguration of the proximal repositionable structure to move the distal portion relative to the workspace, such that the accessible space of a working portion of an instrument supported by the distal repositionable structure attached to the distal portion moves relative to the workspace; and the control system commanding, in response to the determination of the reconfiguration command, the proximal repositionable structure to move the distal portion relative to the workspace while repositioning the remote motion center relative to the distal portion, such that the accessible space moves relative to the workspace and the remote motion center remains at the first position.

[0009] Consistent with some implementations, one or more non-transitory machine-readable media include a plurality of machine-readable instructions that, when executed by one or more processors, are adapted to cause one or more processors to perform any of the methods described herein. Attached Figure Description

[0010] Figure 1 It is a diagram of a computer-aided system according to one or more embodiments.

[0011] Figure 2 A perspective view of the working part of a computer-aided device according to one or more embodiments is shown.

[0012] Figure 3 It is a block diagram of a control system for a computer-aided system according to one or more embodiments.

[0013] Figure 4 It is a flowchart of the steps of a method for commanding a computer-aided system to achieve assisted motion, according to one or more embodiments.

[0014] Figure 5 The diagram illustrates a configuration of a computer-aided system according to one or more embodiments, wherein a target in the workspace is within reach of an instrument supported by the computer-aided system.

[0015] Figure 6A The diagram illustrates a configuration of a computer-aided system according to one or more embodiments, wherein a target in the workspace is located at a depth greater than the immediate range of motion of the instrument supported by the computer-aided system.

[0016] Figure 6B The following are illustrations based on one or more embodiments. Figure 6A The computer-aided system has been moved to adjust the configuration of the computer-aided system after the arrival range of the instruments supported by the computer-aided system.

[0017] Figure 7A The configuration of a computer-aided system according to one or more embodiments is shown, wherein the target in the workspace is located at a depth greater than the instantaneous range of motion of the instrument supported by the computer-aided system.

[0018] Figure 7B The following are illustrations based on one or more embodiments. Figure 7A The computer-aided system has been moved to adjust the configuration of the computer-aided system after the arrival range of the instruments supported by the computer-aided system.

[0019] In the accompanying drawings, elements with the same reference numerals have the same or similar functions. Detailed Implementation

[0020] In this specification, specific details are set forth in relation to some embodiments consistent with this disclosure. Numerous specific details are set forth to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that some embodiments can be practiced without some or all of these specific details. The specific embodiments disclosed herein are intended to be illustrative and not restrictive. Other elements that are not specifically described herein but are within the scope and spirit of this disclosure can be implemented by those skilled in the art. Furthermore, to avoid unnecessary repetition, one or more features shown and described in association with one embodiment may be incorporated into other embodiments unless otherwise specifically described or if one or more features would render the embodiment inoperable.

[0021] Furthermore, the terminology used in this specification is not intended to limit the invention. For example, spatially relative terms—such as "below," "under," "lower," "above," "upper," "proximal," "farthest," etc.—can be used to describe the relationship between one element or feature and another element or feature as shown in the figures. In addition to the positioning and orientation shown in the figures, these spatially relative terms are intended to cover different positions of elements or their operations (…). Right now (position) and orientation ( Right now (Rotational placement). For example, if one of the contents of a figure is flipped, an element described as being "below" or "under" other elements or features will be "above" or "on top" of other elements or features. Devices may be oriented in other ways, and spatial relative descriptors used herein are interpreted accordingly. Similarly, descriptions of movement along and around various axes include various specific element positioning and orientations. Additionally, unless the context otherwise indicates, the singular forms "a," "an," and "the" are intended to include the plural forms as well. Furthermore, the terms "comprising," "having," "including," etc., specify the presence of said features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. Components described as coupled may be directly electrically or mechanically coupled, or they may be indirectly coupled via one or more intermediate components.

[0022] An element described in detail with reference to one embodiment, implementation, system, or module may be included in other embodiments, implementations, systems, or modules where feasible, even if not specifically shown or described therein. For example, if an element is described in detail with reference to one embodiment and not with reference to a second embodiment, that element may still be required to be included in the second embodiment. Therefore, to avoid unnecessary repetition in the following description, one or more elements shown and described in association with one embodiment, implementation, or application may be incorporated into other embodiments, implementations, or aspects unless specifically described otherwise, unless one or more elements would render the embodiment or implementation inoperable, or unless two or more of the elements provide conflicting functionality.

[0023] In some cases, well-known methods, processes, components, and circuits are not described in detail to avoid unnecessarily obscuring aspects of the implementation.

[0024] This disclosure describes various devices, components, and parts of a computer-aided system, as well as elements, based on their state in three-dimensional space. As used herein, the term "positioning" refers to the location of an element or a portion of an element. For example Three translational degrees of freedom in three-dimensional space, such as along Cartesian x, y, and z coordinates. As used herein, the term "orientation" refers to the rotational placement of an element or a portion of an element. For example The three rotational degrees of freedom in three-dimensional space, such as about the roll axis, pitch axis, and yaw axis, are represented by angular axes, rotation matrices, quaternions, etc. As used herein, and for devices with a kinematic series, such as devices with a repositionable structure having multiple links coupled by one or more joints, the term "proximal" refers to the direction toward the base of the kinematic series, and "distal" refers to the direction along the kinematic series away from the base.

[0025] As used herein, the term "pose" refers to the spatial localization and orientation of a rigid body in a coordinate system of interest (DOF). Typically, pose includes pose variables for each of the DOFs in the pose. For example, a complete 6-DOF pose of a rigid body in 3D space would include pose variables for each of the DOFs (localization DOFs). For example (x, y, and z) and 3 orientations of DOF ( For example The six pose variables correspond to roll, pitch, and yaw. A 3-DOF-only positioning pose will only include pose variables used for the three positioning DOFs. Similarly, a 3-DOF-only orientation pose will only include pose variables used for the three rotation DOFs. Furthermore, the velocity of the pose captures the change in pose over time (…). For example(The first derivative of the pose). For a complete 6-DOF pose of a rigid body in 3D space, the velocity will include 3 translational velocities and 3 rotational velocities. Pose with other numbers of DOFs will have corresponding numbers of translational velocities and / or rotational velocities.

[0026] Various aspects of this disclosure are described with reference to computer-aided systems, which may include remotely operated, externally manipulated, autonomous, semi-autonomous, and other devices. Furthermore, various aspects of this disclosure are described according to implementations using remotely operated surgical systems, such as the da Vinci® Surgical System, commercially available from Intuitive Surgical, Sunnyvale, California. However, those skilled in the art will understand that the inventive aspects disclosed herein can be embodied and implemented in various ways, including remotely operated and non-remotely operated, as well as medical and non-medical implementations. Implementations using the da Vinci® Surgical System are merely exemplary and are not intended to limit the scope of the inventive aspects disclosed herein. For example, the techniques described with reference to surgical instruments and methods can be used in other contexts. Therefore, the instruments, systems, and methods described herein can be used for humans, animals, parts of human or animal anatomy, industrial systems, general robots, or remote operating systems. As another example, the instruments, systems, and methods described herein can be used for non-medical purposes, including industrial applications, general robotic applications, sensing or manipulating non-tissue artifacts, cosmetic enhancements, imaging of human or animal anatomy, collecting data from human or animal anatomy, setting up or disassembling systems, training medical or non-medical personnel, etc. Additional example applications include procedures concerning tissue removed from human or animal anatomy (with or without return to the anatomy) and procedures concerning human or animal cadavers. Furthermore, these techniques can also be used in medical treatment or diagnostic procedures, with or without surgical involvement.

[0027] Figure 1 This is a diagram of a computer-aided system 100 according to one or more embodiments. Figure 1 In the example, computer-aided system 100 includes a repositionable component 110 and a user input system 150. As will be described in more detail below, the user input system 150 includes one or more input controls (also referred to herein as input controls) for operating the repositionable component 110. An operator 198 can use one or more input controls to command movement of the repositionable component 110, for example, by commanding movement of the repositionable component 110 in a leader-follower configuration. A leader-follower configuration is a remote operation configuration and is sometimes referred to in industry as a master-slave configuration.

[0028] In some medical implementations, the computer-aided system 100 may be found in clinics, diagnostic facilities, operating rooms, interventional treatment rooms, or other medical environments. Although the computer-aided system 100 is shown as including a repositionable component 110 supporting multiple instruments 140, those skilled in the art will understand that the computer-aided system 100 may include any number of repositionable components, each of which may include one or more repositionable structures, and each repositionable structure may support one or more instruments, and all of these elements may be similar in design to or different from those specifically depicted in these figures. In some examples, each of the repositionable components may include fewer or more repositionable structures and / or support fewer or more instruments than those specifically depicted in these figures.

[0029] exist Figure 1 In the example shown, the user input system 150 includes one or more input controls 152 configured to be operated by an operator 198. One or more input controls 152 are touched and manipulated by the operator 198's hand, with one input control 152 designed for one hand. Examples of such hand input devices include any type of device that can be manually operated by a human user. For example (This includes joysticks, trackballs, button clusters, and / or other types of tactile devices typically equipped with multiple degrees of freedom). Positioning, force, and / or tactile feedback devices (not shown) can be used to transmit positioning, force, and / or tactile sensations from the instrument 140 supported on the repositionable assembly 110 back to the operator's hand via input control device 152.

[0030] The input control device 152 is supported by the user input system 150 and is shown as mechanically grounded, but in other implementations it may not be mechanically grounded. In some implementations, an ergonomic support 156 may be provided; for example, Figure 1 An ergonomic support 156 including a forearm brace is shown, on which an operator 198 can rest his or her forearm while manipulating the input control device 152. In some examples, the operator 198 can perform tasks at a workplace near the repositionable component 110 during a process by controlling the repositionable component 110 using the input control device 152.

[0031] The user input system 150 includes a display unit 154. The display unit 154 can display images for operator 198 to view. The display unit 154 can provide operator 198 with a view of the workplace in which the repositionable component 110 interacts. This view may include stereoscopic or three-dimensional images to provide depth perception of the instrument and workplace of the repositionable component 110 in the workspace. The display unit 154 can move with various degrees of freedom to adapt to the viewing position of operator 198 and / or provide control functions. Where the display unit (e.g., display unit 154) is also used to provide control functions (e.g., commanding the repositionable component 110), the display unit also includes an input control device (…). For example Another input control device 152).

[0032] When using the user input system 150, the operator 198 can sit on a chair or other support, position his or her eyes to view the image displayed by the display unit 154, grasp and manipulate the input control device 152, and rest his or her forearm on the ergonomic support 156 as needed. In some implementations, the operator 198 can stand at a workstation or adopt other postures, and the display unit 154 and the input control device 152 can be structurally different, adjusted in positioning (height, depth, etc.), etc.

[0033] The repositionable component 110 can be used to enter the workspace via the access guide 130 inserted through an opening or port. For example One or more instruments 140 may be introduced into a workspace via a cannula, tube, or other similar fixation device, through a port component (not shown), or directly through an opening without the use of an access guide, port, or other attachment. In a medical setting, the workspace may be on or inside a patient's body, and the opening may be a minimally invasive incision or a natural body orifice. In some examples, instrument 140 may include medical or non-medical devices. In some examples, instrument 140 may include an imaging device and / or an instrument with or without an imaging device. Examples of medical devices include surgical instruments for interacting with tissue, imaging devices, sensing devices, etc. In some examples, instrument 140 may include an end effector capable of, but not limited to, performing, grasping, retracting, cauterizing, ablating, suturing, cutting, stapling, fusing, sealing, and / or combinations thereof.

[0034] In use, the entry guide 130 can float freely and be held in place by a fixing device detachable from the repositionable assembly 110, or by a linkage 128 or other components of the repositionable assembly 110. The linkage 122 can be coupled to additional joints and links 114, 120 of the repositionable assembly 110, and these additional joints and links 114, 120 can be mounted on the base 112. The linkage 122 may also include an actuator support link 124 located in the proximal direction 162 of the entry guide 130. A set of actuators 126 located in the proximal direction 162 of the entry guide 130 can be coupled to the actuator support link 124. The movable components of the repositionable assembly 110 to follow commands from the user input system 150 may include any one or more of the following: linkage 122; additional joints and links 114, 120; base 112; manipulator support link 124; and / or any additional links or joints coupled to the aforementioned joints or links. Each of the manipulators 126 may include a bracket (or other instrument coupling link) configured to be coupled to the instrument 140, and each of the manipulators 126 may include one or more joints and / or links that can be actuated to move the bracket. For example, a manipulator 126 may include a prismatic joint that, when actuated, linearly moves the bracket and any instrument 140 coupled to the bracket. This linear movement may be along (parallel to) an insertion axis that extends in a distal direction 164 to and through the openings of the access guide 130 and the access workspace.

[0035] Additional joints and links 114 and 120 can be used to position the entry guide 130 at an opening into the workspace or at other locations. For example... Figure 1 As shown, the repositionable assembly 110 includes a prism joint for vertical adjustment (as indicated by arrow "A") and a rotary joint for horizontal adjustment (as indicated by arrow "B"), which can be used to translate the positioning of the entry guide 130. The linkage 122 is used to pivot the entry guide 130 (and the instrument disposed within the entry guide) about a remote center of motion (RCM) located proximal to the entry guide 130 in yaw and pitch angles (as indicated by arrows D, E, and F, respectively), without translating the RCM.

[0036] The actuation of the degrees of freedom provided by the joints (not shown) of the device 140 can be achieved by a power source located in or in the device 140. For exampleA linear force or rotational torque is transmitted to an actuator of the instrument 140 to provide this. Examples of actuators include rotary motors, linear motors, solenoids, etc. The actuator can drive the repositionable assembly 110 and / or the transmission elements in the instrument 140 to control the degrees of freedom of the instrument 140. For example, the actuator can drive the drive element of the instrument 140 (… For example The rotary disk of the manipulator 126 is coupled to the rotary disk (rotary disk, linear slider), wherein the drive element of the drive device 140 drives the transmission element in the device 140, which is coupled to move the joints of the device 140 or actuate some other function of the device 140, such as the degrees of freedom of the end effector. Therefore, the degrees of freedom of the device 140 can be controlled according to a control signal, by the actuator driving the device 140. The control signal can be determined to cause movement or other actuation of the device, such as automatically determined by the system, indicated by a command issued by the input control device for movement or other manipulation, or indicated by any other control signal. Furthermore, sensors for appropriate positioning can be provided (…). For example (Encoders, potentiometers, etc.) to enable the measurement of joint positioning, instrument positioning, or other data that can be used to derive joint positioning, velocity, etc. Actuators and sensors may be disposed in the manipulator 126, or transmit signals to or receive signals from the manipulator 126. The technique for manipulating multiple instruments 140 in a computer-aided system is described more fully in International Patent Publication No. WO 2022 / 0467787 entitled “METHOD AND SYSTEM FOR COORDINATED MULTIPLE-TOOL MOVEMENT USING A DRIVABLE ASSEMBLY”, which is incorporated herein by reference.

[0037] Although Figure 1 The specific structure of the repositionable component 110 is shown, but those skilled in the art will understand that embodiments of this disclosure can be used in any design of the repositionable component or other repositionable structure. In some examples, the repositionable component can have any number and type of degrees of freedom and can be configured to be coupled or uncoupled to an entry guide, etc. In some examples, the repositionable component 110 may also include arrangements of links and joints that do not provide a remote center of motion.

[0038] In some examples, embodiments of this disclosure can be used in systems that integrate a table with one or more repositionable components or manipulator components, each supporting one or more instruments. In example systems, the table may include a movable platform supported by a table support structure mechanically grounded at its base. The example system also includes one or more repositionable components supported by one or more corresponding support structures. The support structures for the one or more repositionable components may be mechanically grounded at the same base or at one or more corresponding different bases. In some examples, one or more of the repositionable components included in the system are mechanically grounded to the floor near the table. In other examples, one or more of the repositionable components are mechanically grounded to or mounted to a wall or ceiling. In some examples, one or more of the repositionable components are mechanically grounded to the table. For example, the repositionable components may be coupled to the platform or other parts of the table, such as a platform support structure or rails mounted to the table or platform. In some examples, when a repositionable component is coupled to a stage, the repositionable component moves in sync with and / or independently of the stage. The techniques described herein can be used to control the stage and each of one or more repositionable components. In some examples, a system integrating a stage with repositionable components may include one, two, three, four, five, or more individual manipulator components that can be individually controlled. Furthermore, each of one or more repositionable components may support one or more corresponding instruments, such as those described herein. Examples of such multi-instrument surgical system architectures are the da Vinci Si® Surgical System and da Vinci® Xi, commercially available from Intuitive Surgical. TM Surgical system. A system integrating a worktable with a repositionable component or manipulator component is described more fully in International Patent Publication No. WO2016 / 069648 entitled “SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE”, which is incorporated herein by reference.

[0039] In the various embodiments described in this application, the repositionable assembly 110 includes a proximal repositionable structure and one or more distal repositionable structures. In such an example, the proximal repositionable structure includes one or more of the aforementioned components of the repositionable assembly 110, and one or more distal repositionable structures include one or more other aforementioned components of the repositionable assembly 110. Furthermore, the proximal repositionable structure has a distal portion on which one or more distal repositionable structures can be mounted. Thus, in such an example, the distal portion of the proximal repositionable structure supports the base of the distal repositionable structure, and movement of the distal portion of the proximal repositionable structure moves all distal repositionable structures by moving all of them in the base of the distal repositionable structure.

[0040] In one example architecture, the proximal repositionable structure may include one or more of the following: linkage 122; additional joints and / or links 114, 120; manipulator support link 124; and / or any additional links and / or joints coupled to the aforementioned joints or links. In this example architecture, one or more distal repositionable structures may include one or more of the following: manipulator 126; a bracket (or other instrument coupling link) configured to couple to instrument 140; and / or one or more joints and / or links that can be driven to move the bracket. The distal portion of the proximal repositionable structure, on which one or more distal repositionable structures are mounted, may include manipulator support link 124. Therefore, in this example architecture, the distal portion of the proximal repositionable structure ( For example The controller supports linkage 124 and supports a remotely repositionable structure. For example The base of one or more manipulators 126), and the movement of the distal portion of the proximal repositionable structure by moving all of the distal repositionable structures and the device 140 supported by the distal repositionable structure in the base of the distal repositionable structure.

[0041] Each distal repositionable structure is configured to support one or more of the devices 140. Devices 140 may be directly attached to the distal repositionable structure in some cases, or indirectly attached via one or more intermediate adapters in others. During a process executed by the computer-aided system 100, the distal portion of the proximal repositionable structure is pivoted about a remote center of motion (RCM) associated with the repositionable assembly 110 by commanding movement of the proximal repositionable structure. Devices 140 attached to the distal repositionable structure can pivot about this RCM.

[0042] In some example architectures, the repositionable component 110 has a hardware-centric RCM (HWC) or hardware remote motion center, and the repositionable component 110 is designed such that movement of a first set of drivable joints of the repositionable component 110 pivots a portion of the proximal and / or distal repositionable structure (typically a distal link or distal portion) about the HWC. The HWC can be moved relative to the base 112 of the repositionable component 110 by actuating a second set of drivable joints of the repositionable component 110. In some examples, the drivable joints among the multiple joints of the repositionable component 110 provide redundant degrees of freedom, and coordinated movement of the drivable joints can pivot the aforementioned portion of the proximal and / or distal repositionable structure about a software-centric RCM (SWC). The position of the SWC can be moved relative to the base portion of the proximal and / or distal repositionable structure, and is achieved through coordinated movement of the drivable joints. In some examples, the repositionable component 110 has a pivot center (HWC) and a driveable joint that provides redundant degrees of freedom, allowing the repositionable component 110 to pivot the aforementioned portions of the proximal and / or distal repositionable structure about a point other than the HWC, and the repositionable component 110 can switch between pivoting about the HWC or about the pivoting center (SWC). For a repositionable component that can switch between pivoting about the HWC and SWC, the effective remote center is any point where the command motion causes the aforementioned portions of the proximal and / or distal repositionable structure to pivot about it.

[0043] When the repositionable component 110 is in operation, the RCM can be located at a suitable position, such as at an opening into the workspace (e.g., providing access to a cavity or body, incision, natural orifice, such as the mouth or throat). The RCM can be an HWC, or for systems with an HWC and capable of supporting an SWC, it can be an SWC, or for systems without an HWC, it can be an SWC. For example, an instrument 140 attached to the repositionable component 110 via one or more distal repositionable structures pivots and engages about the RCM when the instrument 140 is used to perform a task. The instrument 140 can use the distal repositionable structures and insert or retract relative to the workspace without moving the distal portion of the proximal repositionable structure. For example, the distal repositionable structure can have an actuated joint, and / or the instrument 140 can have an actuated joint to further insert the instrument 140 into the workspace, retract the instrument 140 within or from the workspace, or engage the instrument 140 within the workspace. In the example, the joints of the device 140 are directly driven by an actuator, or by one or more transmission mechanisms (e.g., cables, gears, hysteresis tubes, metal belts, pulleys, winches, etc.) that transmit force, torque, or motion from a distal repositionable structure and / or the device.

[0044] Figure 2 A perspective view of the working parts of a computer-aided device supported by a computer-aided system according to one or more embodiments is shown. Figure 2 In the example, the instrument (e.g., instrument 140 supported by one or more distally repositionable structures of the repositionable assembly 110) includes: an imaging instrument 200 including an imaging device; and non-imaging manipulators 210, 220. The imaging instrument 200 shown is engageable, and its working portion is movable relative to an axis. The non-imaging manipulators 210 and 220 shown are also engageable, and their working portions (shown as jawed end effectors) are also movable relative to their axes. Although in Figure 2 The instrument shown is a specific design, but other imaging instruments, manipulation instruments, or other instruments (such as suction, sensing, etc.) may have more, fewer, or no joints that can be driven to move the working end relative to the axis.

[0045] In the illustrated example, during operation, these instruments extend from a lumen within the access guide 130, used in conjunction with the repositionable assembly 110. The imaging apparatus of the imaging instrument 200 includes optical stereoscopic image capture devices 202, 204 and an optical fiber 206 housed at its tip (coupled to a light source at its proximal end). The distal portions of the non-imaging manipulators 210, 220 include corresponding working parts ( For example (End actuators) 212, 222.

[0046] Each of the non-imaging maneuvering devices 210 and 220 includes a plurality of actuable joints that can be driven by a distally repositionable structure and a plurality of links coupled to the joints. As an example, the second non-imaging maneuvering device 220 includes a first link 224, a second link 226, and a third link 228, a first joint 232 and a second joint 234, and a wrist joint 236. The first joint 232 is coupled to the first link 224 and the second link 226, and the second joint 234 is coupled to the second link 226 and the third link 228, such that the second link 226 can pivot about the first joint 232 in pitch and yaw, while the first link 224 and the third link 228 remain parallel to each other. The first joint 232, the second joint 234, and the wrist joint 236 can also be driven by a distally repositionable structure to insert and retract the working portion 222 relative to the distally repositionable structure into and from the workspace via the first link 224, the second link 226, and the third link 228. The first non-imaging manipulator 210 and the imaging device 200 can be similarly operated by the distally repositionable structure. In some examples, the device 140 supported by the repositionable assembly 110 is implemented as one or more of the first non-imaging manipulator 210, the second non-imaging manipulator 220, and / or the imaging device 200.

[0047] In some cases, during operation of the computer-aided system 100, when the distal portion of the proximal repositionable structure is held at the same distance relative to the workspace, it is desirable to insert the instrument 140 further into the workspace or retract it further into the workspace than is possible. For example, the operator 198 may wish to perform an action at a target within the workspace located at a distance from the distal portion of the proximal repositionable structure than the instrument 140 can reach in the current configuration of the proximal repositionable structure. When a target within the workspace is positioned too deep or too shallow within the workspace such that the instrument 140, coupled to a distal repositionable structure having a base located at a fixed distance from the workspace, cannot reach the target, the target is considered to be outside the immediate range of motion (ROM) of the instrument 140. For example, when the base of the corresponding distal repositionable structure is located at a fixed distance from the workspace, the instrument ( For exampleTargets outside the reachable range of the first non-imaging manipulator 210 or the second non-imaging manipulator 220 are considered to be outside the immediate range of motion of the device. The immediate range of motion of the device 140 can be considered as the reachable space of the working portion of the device 140 (typically at the distal portion) without movement of the base of the distal repositionable structure supporting the device 140. When the device 140 is a non-imaging device, the working portion of the device may include one or more end effectors. When the device 140 is an imaging device, the working portion of the device may include one or more imaging devices. In some examples, the distal portion of the device 140 is the working portion of the device 140.

[0048] In some examples, the instantaneous range of motion of the device 140 is limited by the insertion translation limitation of the distal repositionable structure supporting the device 140. For example, the translation limitation of the distal repositionable structure along the insertion axis of the device 140 can be a limitation on the range of motion of the device 140. In various embodiments, the instantaneous ROM of the device 140 is determined by kinematic analysis of the device and the distal repositionable structure.

[0049] One potential approach to responding to a situation where a target within the workspace is outside the immediate range of motion of the instrument 140 is to use a limited instrument reach range ( For example The repositionable component 110 can be easily operated with the limited range of motion of the working part of the instrument. However, by operating the repositionable component 110 with a limited range of instrument reach, the instrument 140 may not be able to perform one or more tasks and / or operations on targets located outside the immediate ROM of the instrument 140.

[0050] In another potential approach for responding to a situation where a target within the workspace is outside the immediate range of motion of instrument 140, operator 198 may perform a manual process to adjust the physical configuration or positioning of repositionable component 110 to achieve the desired reach range of instrument 140. However, this approach may interfere with the process performed by computer-aided system 100, may require multiple adjustments to correctly configure or position repositionable component 110, and / or increase the amount of time required for the execution process.

[0051] Some embodiments of this disclosure include techniques for automatically or semi-automatically adjusting the reach (e.g., the instantaneous range of motion of the working portion of the instrument 140) of one or more instruments 140 supported by the distal repositionable structure of the repositionable assembly 110. For example, the proximal repositionable structure includes a driveable joint that is selectively actuated (automatically or semi-automatically) to move the distal portion of the proximal repositionable structure by a defined amount. The distal portion of the proximal repositionable structure can move along an insertion axis in response to determining the desired adjustment of the reach of the instrument 140. For example (Move a predefined distance). The determination of the reach of the desired adjustment device 140 can be performed by considering one or more appropriate criteria (e.g., in response to one or more devices 140 being at or near their corresponding range of motion limits).

[0052] The insertion axis is the axis of the distal portion of the proximal repositionable structure and / or the axis of the instrument 140 supported by the distal repositionable structure relative to the workspace along its insertion and retraction axis. In some examples, the insertion axis extends through the RCM of the repositionable assembly 110. In some examples, the insertion axis may coincide with and / or be parallel to one or more of the rolling axis of the entry guide 130, the lumen extending through the entry guide 130, or the longitudinal axis of the entry guide 130.

[0053] In some cases, techniques for automatically or semi-automatically adjusting the reach of one or more instruments 140 include defining a SWC to complement movement of the distal portion of the proximal repositionable structure, such that the effective RCM of the repositionable assembly 110 is maintained relative to the workspace. For example, the technique includes defining the SWC when the repositionable assembly 110 has a HWC that moves relative to the workspace as the distal portion of the repositionable structure moves along the insertion axis. The SWC is defined at a position prior to movement of the distal portion of the proximal repositionable structure to maintain the effective RCM of the repositionable assembly 110 relative to the workspace during movement of the distal portion of the proximal repositionable structure for adjusting the reach of one or more instruments 140. Thus, after movement of the distal portion of the proximal repositionable structure along the insertion axis, the instrument 140 attached to the distal repositionable structure can pivot about the SWC.

[0054] Figure 3 It is a computer-aided system according to one or more embodiments ( For example A block diagram of the control system of a computer-aided system 100. (e.g.) Figure 3As shown in the example, the control system 310 is coupled to the repositionable component 110 via an interface. Similarly, the control system is coupled to the user input system 150 via an interface. The interface may be wired and / or wireless, and may include one or more cables, optical fibers, connectors and / or buses, and may also include one or more networks with one or more network switches and / or routing devices.

[0055] In one example, the repositionable component 110, user input system 150, and / or control system 310 may correspond to the patient-side cart, surgeon console, and processing unit and associated software of the da Vinci® Surgical System, commercially available from Intuitive Surgical, Sunnyvale, California. In some embodiments, repositionable components with other configurations, such as fewer or more repositionable structures, different user input systems or input controls, different repositionable structure hardware, etc., may constitute the computer-aided system 100.

[0056] In some embodiments, the control system 310 may be implemented as a separate subsystem and / or board added to the computing device, or as a virtual machine. In some embodiments, the repositionable component 110 is coupled to the user input system 150 via the control system 310. In some embodiments, the control system 310 may be included as part of the user input system 150 and / or the repositionable component 110. That is, in some embodiments, the control system 310 is integrated within the user input system 150 and / or the repositionable component 110. In some embodiments, the control system 310 may operate separately from the user input system 150 and / or the repositionable component 110, or may operate in coordination with the user input system 150 and / or the repositionable component 110. In some embodiments, in response to a user inputting control for operating the repositionable component 110 into the user input system 150, the user input system 150 provides the control received from the user to the control system 310. The control system 310 then uses the control received from the user input system 150 to control the repositionable component 110.

[0057] The operation of the control system 310 is controlled by the processor system 320. The processor system 320 includes one or more central processing units, multi-core processors, microprocessors, microcontrollers, digital signal processors, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), graphics processing units (GPUs), tensor processing units (TPUs), etc., within the control system 310. The control system 310 also includes a memory 330 connected to the processor system 320. The memory 330 can be used to store software executed by the control system 310 and / or one or more data structures used during the operation of the control system 310. The memory 330 can include one or more types of machine-readable media. Some common forms of machine-readable media include floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROM, EPROM, FLASH-EPROM, any other memory chips or cassette tapes, and / or any other media suitable for a processor or computer to read from.

[0058] like Figure 3 As illustrated in the example, memory 330 includes an arrival assist control module 340, which can be used to support autonomous, semi-autonomous, and / or remote operation control of the repositionable component 110 and / or device 140 during operation of the computer-aided system 100. The arrival assist control module 340 includes one or more application programming interfaces (APIs) for receiving positioning, motion, force, torque, and / or other sensor information from components of the repositionable component 110 (e.g., proximal repositionable structures, one or more distal repositionable structures, and / or device 140 supported by one or more distal repositionable structures), for sharing positioning, motion, force, torque, and / or collision avoidance information with other control systems relating to other devices, and / or for planning and / or assisting in planning the motion of device 140 and / or repositionable component 110 (e.g., the motion of the proximal repositionable structure and one or more distal repositionable structures).

[0059] In some examples, the arrival assist control module 340 is used to command the distal portion of the proximal repositionable structure to move automatically or semi-automatically along the insertion axis to adjust the reach of one or more instruments 140 supported by the distal repositionable structure of the repositionable assembly 110, as described above. This automatic or semi-automatic movement of the distal portion of the proximal repositionable structure along the insertion axis to extend the reach of the instrument 140 may be referred to hereinafter as an “arrival assist movement” of the distal portion of the proximal repositionable structure. More generally, the arrival assist control module 340 commands the arrival assist movement of the distal portion of the proximal repositionable structure to reconfigure the pose of the proximal repositionable structure such that the reachability space of the instrument 140 ( For example (Instant ROM) moves relative to the workspace. Figure 3 In the example shown, the arrival auxiliary control module 340 includes, but is not limited to, a speed monitor 350, a depth monitor 360, and a command output module 370.

[0060] Velocity monitor 350 is used to monitor the velocity of the proximal repositionable structure. For example, using one or more sensors coupled to or configured to detect the kinematic configuration of the repositionable assembly 110, velocity monitor 350 determines the velocity of one or more degrees of freedom of the proximal repositionable structure resulting from the actuation of one or more joints of the proximal repositionable structure. In some examples, in response to a non-zero velocity of one or more degrees of freedom of the proximal repositionable structure, arrival assist control module 340 commands arrival assist movement of the distal portion of the proximal repositionable structure. In some examples, velocity monitor 350 is also used to monitor the velocity of other components included in and / or supported by the repositionable assembly 110 (e.g., one or more distal repositionable structures or one or more instruments 140). In some examples, velocity monitor 350 is used to monitor the rate or velocity of the proximal repositionable structure and / or the rate or velocity of other components (e.g., one or more distal repositionable structures or one or more instruments 140).

[0061] Depth monitor 360 is used to monitor the “depth” of one or more instruments 140 supported by the distal repositionable structure of repositionable assembly 110. For example, using one or more sensors coupled to and / or external to repositionable assembly 110, depth monitor 360 determines the depth of instrument 140. The “depth” of instrument 140 is a measure of the distance from the distal end and / or working portion of instrument 140 (e.g., a control point defined relative to the working portion) to a point of interest associated with repositionable assembly 110. As an example, the depth of the instrument 140 can be determined as the distance from the distal end and / or working portion of the instrument 140 to the HWC of the repositionable assembly 110, the distance from the distal end and / or working portion of the instrument 140 to the SWC of the repositionable assembly 110, the distance from the distal end and / or working portion of the instrument 140 to the distal end of the distal portion of the proximal repositionable structure, the distance from the distal end and / or working portion of the instrument 140 to the HWC or other portions of the entry guide 130, the distance from the distal end and / or working portion of the instrument 140 to the maximum insertion distance achievable with the distal portion of the proximal repositionable structure held fixed, or (in the case of a distal repositionable structure having a prism joint aligned with the insertion of the instrument 140) the distance from the fully retracted prism joint. In some cases, the depth can be determined as a percentage, ratio, or fraction. As an example, the depth is determined as a fraction, the numerator of which is the distance from the distal end and / or working portion of the instrument 140 to the maximum retracted pose of the distal repositionable structure, and the denominator is the difference between maximum insertion and maximum retraction; in this example, zero represents no insertion, one represents maximum insertion, and higher values ​​correspond to a larger depth. As another example, and in the case of a distal repositionable structure having a prism joint aligned with the insertion of the instrument 140, the depth is determined as a percentage of the remaining available insertion range of the prism joint relative to the total insertion range of the prism joint; in this example, a lower percentage corresponds to a larger depth.

[0062] Command output module 370 is used to determine and command the movement of one or more of the proximal repositionable structures, one or more distal repositionable structures, and one or more instruments 140 supported by one or more distal repositionable structures to perform arrival-assisted movements. In some examples, the arrival-assisted movements are determined based on one or more of the following: instrument depth determined by depth monitor 360, velocity and / or rate of the degrees of freedom of the proximal repositionable structure determined by velocity monitor 350, or some other sensor signals generated by sensor assemblies coupled to and / or external to repositionable assembly 110. For example, command output module 370 determines the velocity, rate, and / or direction of motion of the proximal repositionable structure, one or more distal repositionable structures, and one or more instruments 140 supported by one or more distal repositionable structures based on one or more of the following: instrument depth determined by depth monitor 360, velocity and / or rate of the degrees of freedom of the proximal repositionable structure determined by velocity monitor 350, or other sensor signals generated by one or more sensors coupled to and / or external to repositionable assembly 110. Example sensors include those providing joint status information ( For example A joint encoder for (joint positioning, joint velocity), wherein the joint state information can be correlated with the known geometry of a repositionable structure (joint positioning, joint velocity). For example The sensor is used in conjunction with dimensions, relationships between links and joints, etc., to enable kinematic calculations of the location, velocity, rate, and acceleration of the part of interest in the structure. Other examples of sensors include imaging devices that can provide images of the repositionable structure, and image processing of image data from the imaging device can be used to determine the location, velocity, and acceleration of the part of interest in the structure. The command output module 370 then commands the movement of one or more of the proximal repositionable structure, one or more distal repositionable structures, and one or more instruments 140 supported by one or more distal repositionable structures, based on the determined velocity, rate, and / or direction of the movement.

[0063] Command output module 370 is also used to determine and command movement of the repositionable component 110 and / or one or more components of the instrument 140 supported by the repositionable component 110. In some examples, command output module 370 determines and commands movement of joints of one or more of the proximal repositionable structure, one or more distal repositionable structures, and / or one or more of the instruments 140 supported by one or more distal repositionable structures in response to a command received from user input system 150. In a specific example, command output module 370 determines and commands movement of multiple joints that pivots the distal portion of the proximal repositionable structure about the RCM in response to a movement command received from user input system 150. Hereinafter, the operations performed by depth monitor 360, velocity monitor 350, and / or command output module 370 may be collectively referred to as the operations performed by arrival assist control module 340.

[0064] In some examples, the arrival assist control module 340 determines whether to reconfigure the pose of the proximal repositionable structure based on the reach or instantaneous range of motion of one or more instruments 140. For example, when a target in the workspace is within the reach of one or more instruments 140, the arrival assist control module 340 may determine to maintain the current pose of the proximal repositionable structure. In some examples, when a signal generated by the depth monitor 360 indicates that the operator is not moving the end effectors of one or more instruments 140 to attempt to reach a target outside the reachable space, the arrival assist control module 340 determines that the target is within the reach of one or more instruments 140. As another example, when a target in the workspace is outside the reach of one or more instruments 140, the arrival assist control module 340 may determine to modify or reconfigure the pose of the proximal repositionable structure. In some examples, when a signal generated by the depth monitor 360 indicates that an operator is moving one or more end effectors of the instrument 140 to reach a target outside the immediate range of motion of the instrument 140, the reach assist control module 340 determines that the target is outside the reach range of one or more instruments 140. In response to determining the pose of the reconfigurable proximal repositionable structure, the reach assist control module 340 commands the reach assist movement of the distal portion of the proximal repositionable structure via the command output module 370 to move the reachable space of the instrument 140.

[0065] In some cases, the arrival auxiliary control module 340 determines the pose of the reconfigurable proximal repositionable structure in response to the depth of the instrument 140, as determined by the depth monitor 360, being shallower than a minimum depth threshold. The minimum depth threshold can be determined, for example, based on a range of motion limitation for further retraction of the instrument 140 without moving the distal portion of the proximal repositionable structure. That is, the minimum depth threshold is determined based on a range of motion limitation of the instrument 140 in the retraction or proximal direction with the distal portion of the proximal repositionable structure fixed relative to the workspace along the insertion axis.

[0066] In some examples, the minimum depth threshold is based on a defined fraction or percentage of the immediate full range of motion of device 140, where 100% is the deepest point of the immediate range of motion of device 140, and 0% is the shallowest point of the immediate range of motion of device 140. In such examples, the minimum depth threshold is a value greater than 0% of the immediate range of motion of device 140. For example (20%, 20% (one-fifth), 25% (one-quarter), 30% (three-tenths), or some other percentage value or fraction). In some examples, the minimum depth threshold is based on the actual range of instrument depth. As an example, for some distally repositionable structures and / or instruments 140 used in general medical applications, the minimum depth threshold is between 3 and 4 cm, or between 6 and 8 cm, or between 8 and 10 cm from the shallowest depth within the immediate range of motion of instrument 140. However, those skilled in the art will understand that the minimum depth threshold can have values ​​different from the examples provided herein.

[0067] In some cases, the auxiliary control module 340 determines the pose of the reconfigurable proximal repositionable structure in response to the depth of the instrument 140 exceeding a maximum depth threshold. The maximum depth threshold can be determined, for example, based on limitations on the range of motion of the instrument 140 without moving the distal portion of the proximal repositionable structure. That is, the maximum depth threshold is determined based on limitations on the range of motion of the instrument 140 in the insertion or distal direction with the distal portion of the proximal repositionable structure fixed relative to the workspace along the insertion axis.

[0068] In some examples, the maximum depth threshold is based on a defined fraction or percentage of the immediate full range of motion of device 140, where 100% is the deepest point of the immediate range of motion of device 140, and 0% is the shallowest point of the immediate range of motion of device 140. In such examples, the maximum depth threshold is a value less than 100% of the immediate range of motion of device 140. For example(80%, 75%, 70%, or some other percentage value or fraction). In some examples, the maximum depth threshold is based on the actual range of instrument depth. As an example, for some distally repositionable structures and / or instruments 140 used in medical applications, the maximum depth threshold is between 20 cm and 35 cm, or between 30 cm and 40 cm, or between 40 cm and 50 cm from the shallowest depth within the immediate range of motion of instrument 140. However, those skilled in the art will understand that the maximum depth threshold can have values ​​different from those provided herein.

[0069] In some examples, the minimum depth threshold and the maximum depth threshold are determined based on one or more of the following: operator preference, type of instrument 140, kinematic configuration of instrument 140 ( For example One or more joints of the device 140 are positioned relative to the entry guide 130 such that the wrist joint of the device 140 is held in the position of the device 140 distal to or proximal to the repositionable structure through which it is inserted into the lumen of the entry guide 130.

[0070] Maximum and minimum depth thresholds can be used to define different portions of the total range of motion. Example portions include: less than the minimum threshold, greater than the minimum threshold, between the minimum and maximum thresholds, greater than the maximum threshold, less than the maximum threshold, etc.

[0071] After determining the pose of the proximal repositionable structure to adjust the reach range of instrument 140, or in response to determining the pose of the proximal repositionable structure to adjust the reach range of instrument 140, the reach assist control module 340 determines, via command output module 370, the direction for commanding the distal portion of the proximal repositionable structure to perform reach assist movement along the insertion axis. In some examples, the reach assist control module 340 determines the direction in which the distal portion of the proximal repositionable structure should be moved based on sensor signals indicating the depth of instrument 140 and / or the position of the target within the workspace. As an example, the reach assist control module 340 may respond to an indication that the operator may be attempting to reach a depth in the workspace that is positioned deeper than the immediate range of motion limit of instrument 140. For example Sensor signals from a target (deeper than the maximum threshold of the immediate range of motion of instrument 140) determine whether to move the distal portion of the proximal repositionable structure along the insertion axis in the insertion direction. In another specific example, the reach assist control module 340 responds to an indication that the operator may be attempting to reach a target positioned in the workspace shallower than the immediate range of motion limit of instrument 140. For exampleThe sensor signal or command motion of the target (shallower than the minimum threshold of the instantaneous range of motion of the device 140) determines the movement of the distal portion of the proximal repositionable structure along the insertion axis in the retraction direction. Then, the arrival assist control module 340 commands the arrival assist movement of the distal portion of the proximal repositionable structure via the command output module 370 according to the determined direction of movement.

[0072] In some examples, the arrival assistance control module 340 enables arrival assistance movement of the distal portion of the proximal repositionable structure relative to the workspace in a single direction. For example, the arrival assistance control module 340 may enable arrival assistance movement of the distal portion of the proximal repositionable structure only in the insertion direction or only in the retraction direction. While the arrival assistance control module 340 enables arrival assistance movement of the distal portion of the proximal repositionable structure only in the insertion direction, the arrival assistance control module 340 commands the retraction of the distal portion of the proximal repositionable structure in response to a command for retraction (e.g., based on a user input received via user input system 150 for retracting the distal portion). Similarly, while the arrival assistance control module 340 enables arrival assistance movement of the distal portion of the proximal repositionable structure only in the retraction direction, the arrival assistance control module 340 commands the insertion of the distal portion of the proximal repositionable structure in response to a command for insertion (e.g., based on a user input received via user input system 150 for inserting the distal portion).

[0073] In some cases, the arrival assist control module 340 restricts the arrival assist movement of the distal portion of the proximal repositionable structure along the insertion axis to a period of time during which the joints of the distal and / or proximal repositionable structures have been driven for some other purpose. In such cases, the arrival assist control module 340 enables and commands the arrival assist movement of the distal portion of the proximal repositionable structure in response to a non-zero movement, rate, and / or velocity of one or more degrees of freedom of the distal and / or proximal repositionable structures, as determined by the velocity monitor 350. Furthermore, in such cases, the arrival assist control module 340 disables and prevents the arrival assist movement of the distal portion of the proximal repositionable structure in response to a zero rate or velocity of each degree of freedom of the proximal repositionable structure, as determined by the velocity monitor 350. In one example, the arrival assist control module 340 enables and commands arrival assist movement of the distal portion of the proximal repositionable structure in response to the distal portion of the repositionable structure pivoting about the RCM and / or in response to the distal portion of the proximal repositionable structure being repositioned relative to the workspace. In another example, the arrival assist control module 340 enables and commands arrival assist movement of the distal portion of the proximal repositionable structure simultaneously with other commanded movements of the distal portion of the proximal repositionable structure (e.g., pitch, yaw, roll, insertion, and / or retraction). In yet another example, the arrival assist control module 340 enables and commands arrival assist movement of the distal portion of the proximal repositionable structure simultaneously with actuating one or more joints of the proximal repositionable structure, one or more joints of the instrument 140, and / or one or more joints of the distal repositionable structure for purposes other than moving the distal portion.

[0074] In some examples, the arrival assist control module 340 enables and commands arrival assist movement of the distal portion of the proximal repositionable structure in response to a command received by the user input system 150 for inserting or retracting the instrument 140 or the distal portion of the proximal repositionable structure. In some examples, the arrival assist control module 340 enables and commands arrival assist movement of the distal portion of the proximal repositionable structure in response to a command from the arrival assist control module 340 for inserting or retracting the instrument 140 or the distal portion of the proximal repositionable structure.

[0075] After determining the pose of the proximal repositionable structure to adjust the reach range of the instrument 140, or in response to determining the pose of the proximal repositionable structure to adjust the reach range of the instrument 140, the reach assist control module 340 determines the rate or velocity of the reach assist movement of the distal portion of the proximal repositionable structure via the command output module 370. In some examples, the reach assist control module 340 determines the rate or velocity of the reach assist movement of the distal portion of the proximal repositionable structure based on one or more of the actual or commanded rates or velocities (e.g., linear speed or linear velocity) of: a portion of the proximal repositionable structure, a portion of the distal repositionable structure, and / or a portion of the instrument 140 supported by the distal repositionable structure. In some examples, the reach assist control module 340 determines the rate or velocity of the reach assist movement of the distal portion of the proximal repositionable structure (e.g., linear speed or linear velocity) based on the actual or commanded angular rates or velocities of the yaw, roll, and / or pitch of the commanded movement of the distal portion of the proximal repositionable structure. In some cases, the arrival assist control module 340 determines the rate or speed of arrival assist motion by scaling it proportionally based on the applicable, aforementioned, actual or commanded rate or speed.

[0076] In some examples, the arrival assist control module 340 scales the rate or velocity of arrival assist movement of the distal portion of the proximal repositionable structure based on the positioning of the distal end and / or end effector of the device 140 within the instantaneous ROM of the device 140, which may be determined by the depth monitor 360. In such an example, when the positioning of the distal end and / or end effector of the device 140 approaches the edge of the instantaneous range of motion limit, the arrival assist control module 340 increases the rate of arrival assist movement of the distal portion of the proximal repositionable structure. As an example, when the positioning of the distal end and / or end effector of the device 140 approaches a maximum depth threshold and / or a minimum depth threshold associated with the instantaneous ROM of the device 140, the arrival assist control module 340 may increase the rate or velocity of arrival assist movement of the distal portion of the proximal repositionable structure to a higher rate or velocity. In some examples, as the distal end of the device 140 and / or the end effector moves toward the center of the instantaneous ROM of the device 140, the arrival assist control module 340 reduces the rate or speed of arrival assist movement of the distal portion of the proximal repositionable structure to a lower rate or speed. In one specific example, as the distal end of the device 140 and / or the end effector moves away from the minimum depth threshold and / or the maximum depth threshold toward the center of the instantaneous ROM of the device 140, the arrival assist control module 340 reduces the rate or speed of arrival assist movement of the distal portion of the proximal repositionable structure along the insertion axis to a lower rate or speed.

[0077] In some examples, after determining the pose of the proximal repositionable structure to adjust the reachability of the device 140, or in response to determining the pose of the proximal repositionable structure to adjust the reachability of the device 140, the reach assist control module 340 determines the amount of reach assist movement of the distal portion of the proximal repositionable structure via the command output module 370. For example (Distance, percentage, etc.). In some examples, the arrival assistance control module 340 moves based on user commands received from the user input system 150. For example (Insert commands, retraction commands, etc.) determine the amount by which the distal portion of the proximal repositionable structure is moved during arrival assist movement. In some examples, the arrival assist control module 340 determines the amount by which the distal portion of the proximal repositionable structure is moved during arrival assist movement based on a model of the workspace.

[0078] In some examples, the arrival assistance control module 340 commands arrival assistance movement of the distal portion of the proximal repositionable structure via the command output module 370 to assist the insertion of the instrument 140. For example, the arrival assistance control module 340 may receive a user command via the user input system 150 for inserting the instrument 140 into the total quantity. In this example, the arrival assistance control module 340 may command arrival assistance movement of the distal portion of the proximal repositionable structure in the insertion direction, such that the instrument 140 is inserted into a first portion (e.g., 30%, 50%, etc.) of the total quantity indicated by the user command. Furthermore, the arrival assistance control module 340 may then command movement of the degrees of freedom of the instrument 140 and / or the degrees of freedom of the distal repositionable structure of the instrument 140 to insert the instrument 140 into a second portion or the remainder of the total quantity indicated by the user command.

[0079] In some cases, when the arrival assist control module 340 commands the arrival assist movement of the distal portion of the proximal repositionable structure via the command output module 370, the arrival assist control module 340, via the command output module 370, determines and commands further movement of the joints of the repositionable assembly 110 and / or the instrument 140, such that the combined movement of the distal portion of the proximal repositionable structure occurs in the null space of the working portion of the instrument 140. For example Within the zero space of the tip of the end effector. That is, the arrival auxiliary control module 340 determines and commands the simultaneous movement of the distal repositionable structure and / or instrument 140, such that the distal end and / or working part of the instrument 140 are not affected by the arrival auxiliary movement performed by the proximal repositionable structure in the world reference frame ( For example (relative to the workspace) undergoes movement. During the arrival assist movement of the distal portion of the proximal repositionable structure, this simultaneous movement of the distal repositionable structure and / or device 140 to prevent movement of the distal end of the device 140 may be referred to hereinafter as the arrival assist movement of the distal repositionable structure and / or device 140.

[0080] In an example where the repositionable component 110 includes the HWC and drivable joints providing redundant degrees of freedom, the reach-assist control module 340 determines and commands, via command output module 370, the movement of the second set of drivable joints (drivable joints capable of moving the HWC), and the corresponding movement of the device 140, the distal repositionable structure supporting the device 140, and / or the first set of drivable joints, such that the distal end and / or working portion of the device 140 does not experience movement during the reach-assist movement of the distal portion of the proximal repositionable structure. In this way, the working portion of the device 140 (e.g., which may be at the distal end of the device) can remain stationary in the workspace relative to the world reference frame, while the reachability of the device 140 relative to the target located in the workspace is improved. For example, when the auxiliary movement causes the distal portion of the proximal repositionable structure to move in the insertion direction, the simultaneous movement of the distal repositionable structure and / or the instrument 140 causes the distal end and / or working portion of the instrument 140 to move in the proximal direction relative to the distal portion of the proximal repositionable structure, such that the distal end and / or working portion does not move relative to the workspace in the insertion or retraction direction.

[0081] In some examples, the command output module 370 matches the direction and / or magnitude of the linear velocity of the proximal repositionable structure's arrival at the auxiliary motion with the direction and / or magnitude of the linear velocity of the simultaneous movement of the distal repositionable structure and / or instrument 140. In some cases, the command output module 370 performs this matching by commanding the linear velocity of the proximal repositionable structure's arrival at the auxiliary motion based on the command linear velocity of the distal repositionable structure and / or instrument 140. In some cases, the command output module 370 performs this matching by commanding the linear velocity of the proximal repositionable structure's arrival at the auxiliary motion based on the measured linear velocity of the distal repositionable structure and / or instrument 140.

[0082] In some examples, the arrival assist control module 340 applies one or more time-domain filters to smooth commands for arrival assist motion of the distal portion of the proximal repositionable structure, arrival assist motion of the distal repositionable structure, and / or arrival assist motion of the instrument 140.

[0083] In some embodiments, the arrival assist control module 340 is also configured to set and maintain the positioning of the SWC during arrival assist movement of the distal portion of the proximal repositionable structure. For an example where the repositionable assembly 110 has an HWC, the HWC moves relative to the workspace during arrival assist movement of the distal portion of the proximal repositionable structure. Therefore, in such an example, the arrival assist control module 340 records the RCM (Repositionable Length Motion) of the repositionable assembly 110 prior to arrival assist movement of the distal portion of the proximal repositionable structure. For exampleThe arrival assist control module 340 sets the position of the SWC (HWC or previously set SWC) at the location of the distal portion of the proximal repositionable structure and maintains the recorded position of the effective RCM of the repositionable component 110 during and after the arrival assist movement of the distal portion of the proximal repositionable structure. In some examples, the arrival assist control module 340 sets the position of the SWC to the entrance or vicinity of the workspace before the arrival assist movement of the distal portion of the proximal repositionable structure. During and after the arrival assist movement of the distal portion of the proximal repositionable structure, the arrival assist control module 340 pivots the instrument 140 about the SWC during operation of the computer-assisted system 100.

[0084] In some implementations, the arrival assist control module 340 considers the depth of one or more other instruments 140, such as that determined by the depth monitor 360, before determining whether to command arrival assist movement of the distal portion of the proximal repositionable structure to adjust the reachability of a particular instrument 140. In some cases, the arrival assist control module 340 also considers the insertion depth of one or more other instruments 140, such as that determined by the depth monitor 360, before determining whether to command arrival assist movement of the distal repositionable structure and / or the particular instrument 140.

[0085] In some examples, in response to the depth of the distal end and / or working portion of a particular instrument 140 being deeper than a maximum depth threshold for the immediate range of motion of the particular instrument 140, if all other instruments 140 supported by the distal repositionable structure have a corresponding depth deeper than the minimum insertion depth, the arrival assist control module 340 enables and commands arrival assist movement of one or more of the distal portion of the proximal repositionable structure, the distal repositionable structure, and / or the instrument 140 via the command output module 370. In such examples, if the depth of one or more of the other instruments 140 is shallower than the minimum insertion depth, the arrival assist control module 340 disables arrival assist movement. In some examples, in response to the depth of the distal end and / or working portion of a particular instrument 140 being deeper than a maximum depth threshold for the particular instrument 140, the arrival assist control module 340 enables and commands arrival assist movement via the command output module 370. Depending on the physical architecture of the repositionable components, the arrival-aiding motion can be the distal portion of the proximal repositionable structure, and / or the distal portions of multiple distal repositionable structures and / or the instrument 140. In some cases, additional movement conditions are applied such that the arrival-aiding motion is performed if all non-imaging instruments included in the instrument 140 supported by the distal repositionable structure have a corresponding depth greater than the corresponding minimum insertion depth.

[0086] In some examples, to adjust the reachability of a particular instrument 140, if all other instruments 140 supported by the distal repositionable structure have a corresponding depth shallower than the maximum insertion depth, the reach assist control module 340 enables and commands reach assist movements of the distal portion of the proximal repositionable structure, the distal repositionable structure, and / or one or more instruments 140 via the command output module 370. In this specific example, if the depth of one or more other instruments 140 is deeper than the maximum insertion depth, the reach assist control module 340 disables reach assist movements. In some examples, in response to the depth of the distal end and / or working portion of a particular instrument 140 being deeper than the maximum depth threshold of the particular instrument 140, the reach assist control module enables and commands reach assist movements via the command output module 370. Depending on the physical architecture of the repositionable components, the reach assist movement can be the distal portion of the proximal repositionable structure, and / or the distal portions of multiple distal repositionable structures, and / or the reach assist movement of the instrument 140. In some cases, additional movement conditions are applied such that an arrival-assisted movement is performed if all non-imaging instruments included in the instrument 140 supported by the distal repositionable structure have a corresponding depth shallower than the corresponding maximum insertion depth.

[0087] In order to adjust the reachability of a particular instrument 140, if all non-imaging instruments included in the instrument 140 supported by the distal repositionable structure have a corresponding depth shallower than the maximum insertion depth, the reach assist control module 340 enables via the command output module 370 and commands the reach assist movement of the distal portion of the proximal repositionable structure, the distal repositionable structure and / or one or more of the instruments 140.

[0088] In some examples, to determine whether to reconfigure the pose of the proximal repositionable structure, the reach assist control module 340 determines both whether the reachable space of the instrument 140 is moved and whether one or more movement conditions are met. For example, as described above, the reach assist control module 340 can determine the reachable space of the instrument 140 when sensor signals or command movements provide the following indications: (i) the operator is attempting to reach a target in the workspace located outside the reachable space of the instrument 140; (ii) the depth of the working portion of the instrument 140 is greater than the range of motion limit ( For example (iii) The depth of the working part of the instrument 140 is greater than the range of motion limit (maximum depth threshold); For example (iv) The depth of the working part of the instrument 140 is within the range of motion limit or threshold; (v) The joint of the distal repositionable structure is within the range of motion limit of the joint; (vi) The movement commanded by the operator exceeds the range of motion limit of the joint.

[0089] In some examples, the reach-assistance control module 340 limits the permissible range of reach-assistance movements of the distal portion of the proximal repositionable structure, the distal repositionable structure, and / or the instrument 140 based on a model of the workspace. For example, the reach-assistance control module 340 limits the permissible range of reach-assistance movements based on a model of the workspace to prevent unintended collisions and / or other interactions between one or more instruments 140 and / or materials in the workspace. In medical examples, the reach-assistance control module 340 limits the permissible range of reach-assistance movements based on a model of the patient's anatomy. In some cases, the reach-assistance control module 340 limits the permissible range of reach-assistance movements based on user-defined depth limits of the instrument 140. Depth limits can be physically mapped, for example, using a user input system 150, a touchpad user interface, using the instrument as a probe, and / or using any other technically feasible method.

[0090] In some embodiments, the arrival assist control module 340 disables arrival assist motion in response to one or more conditions being met. In some examples, the arrival assist control module 340 disables arrival assist motion of one or more of the distal portion of the proximal repositionable structure, the distal repositionable structure, and / or the device 140 in response to a range-of-motion limitation of one or more joints of the repositionable assembly 110. In some examples, the arrival assist control module 340 disables arrival assist motion of one or more of the distal portion of the proximal repositionable structure, the distal repositionable structure, and / or the device 140 in response to determining that a collision between the device 140 and material in the workspace is anticipated or detected. In some examples, the arrival assist control module 340 detects a collision between the device 140 and material in the workspace. In some embodiments, a camera or other imaging device separate from the repositionable structure, a depth mapping sensor, or some other sensors are used. For example Collisions are detected using sensors such as contact sensors, pressure sensors, or force sensors. In some examples, the arrival assistance control module 340 is based on user settings (…). For example (user-configured SWC depth) and / or based on the geometry of system components ( For example The device 140 anticipates collisions between itself and materials in the workspace by means of the shape and / or size of its entry guide that is introduced into the workspace.

[0091] In some embodiments, the arrival-aiding movement of the distal portion of the proximal repositionable structure, the distal repositionable structure, or one or more of the device 140 can be user-activated, and / or the control system 310 prompts the user for approval of the arrival-aiding movement before execution. For example, the user can use the user input system 150, input device ( For example The system uses buttons, pedals, levers, pressure sensors, etc., user interfaces, voice commands, or gestures to activate reach-assisted movements and / or process reach-assisted movement requests. In some embodiments, reach-assisted movements of one or more of the distal portion of the proximal repositionable structure, the distal repositionable structure, or the device 140 are enabled only during specific operating modes of the computer-assisted system 100. For example, reach-assisted movements of one or more of the distal portion of the proximal repositionable structure, the distal repositionable structure, or the device 140 are enabled during operating modes of the computer-assisted system 100 for adjusting the pose of the repositionable component 110. As another example, reach-assisted movements of one or more of the distal portion of the proximal repositionable structure, the distal repositionable structure, or the device 140 are enabled during operating modes of the computer-assisted system 100 for remotely operating the repositionable component 110.

[0092] Figure 4 This is a flowchart of method steps for commanding a computer-aided system to achieve assisted motion, according to one or more embodiments. Although combined Figures 1 to 3 The system and Figures 5 to 7B The examples describe method steps, but those skilled in the art will understand that any system configured to execute method steps in any order is within the scope of this disclosure. One or more of the processes 402 to 408 of method 400 may be implemented, at least in part, in the form of executable code stored on a non-transient, tangible, machine-readable medium. This executable code is executed by a processor system (…). For example When executed by the processor system 320 in the control system 310, the processor system may perform one or more of processes 402 to 408. In some embodiments, method 400 may be executed by a module (e.g., an access control module 340). In some embodiments, method 400 may be applied to one or more proximal repositionable structures included in the repositionable component 110 in the computer-aided system 100. See also... Figures 5 to 7B The various aspects of method 400 are described in further detail below. However, it should be understood that... Figure 5 , Figure 6A and Figure 6B as well as Figure 7A and Figure 7B The examples are not restrictive, and Figure 5 , Figure 6A and Figure 6B as well as Figure 7A and Figure 7B Other values, shapes, behaviors, etc., described in the text may be different for different input control devices 152, different repositionable structures, different follower instruments, different DOFs, different processes, different visual objects, etc.

[0093] At processing point 402, the control module (e.g., the arrival auxiliary control module 340) receives motion commands from an input device (e.g., the user input system 150). The arrival auxiliary control module 340 can receive commands from the processor system via any technically feasible technique, such as by detecting input from one or more input control devices 152 in response to manipulation by operator 198. For example The processor system 320 in the control system 310 receives motion commands by executing semi-autonomous or autonomous software applications such as inputs.

[0094] At process 404, in response to receiving a motion command, the control module commands the movement of multiple joints, said movement causing the distal portion of the proximal repositionable structure to pivot about a remote motion center located in a first position relative to the workspace. For example, the auxiliary control module 340 commands the movement of the first set of driveable joints of the repositionable component 110 via command output module 370 to pivot the distal portion of the proximal repositionable structure about an RCM located in a first position relative to the workspace. In one example, the RCM is an SWC. In other examples, the RCM is an HWC. In still other examples, the RCM is sometimes an SWC and sometimes an HWC.

[0095] At process 406, the control module determines, based on one or more sensor signals, whether to command the reconfiguration of the proximal repositionable structure to move the distal portion of the proximal repositionable structure relative to the workspace, thereby moving the accessible space relative to the workspace. For example, the access assist control module 340 responds to an instruction from the operator that the end effector of instrument 140 is moving to reach the accessible space located within instrument 140 in the workspace. For example (i.e., ROM) one or more sensor signals of an external target ( For exampleThe arrival assist control module 340 determines the command to reconfigure the proximal repositionable structure relative to the workspace based on signals generated by the depth monitor 360. In some examples, the arrival assist control module 340 determines the command to reconfigure the proximal repositionable structure relative to the workspace based on one or more sensor signals (e.g., sensor signals generated by the depth monitor 360 and velocity monitor 350) indicating that the operator is attempting to reach a target located outside the reachable space of the instrument 140 in the workspace, and if the velocity monitor 350 determines that the movement, rate, or velocity of one or more degrees of freedom of the proximal repositionable structure is non-zero. In some examples, the sensor signals indicate one or more of the following: the depth of the instrument 140; the reachable space of the instrument 140 (e.g., sensor signals generated by the depth monitor 360 and velocity monitor 350); and the reachable space of the instrument 140. For example (i.e., instant ROM); whether the operator is attempting to move the working part of the instrument 140 to reach a target located outside the reachable space of the instrument 140; the rate or velocity of one or more degrees of freedom of the proximal repositionable structure and / or the distal repositionable structure; or some other parameters of the computer-aided system 100.

[0096] In some examples, to determine whether to command the reconfiguration of the proximal repositionable structure, the control module determines whether to move the accessible space of the instrument and whether one or more movement conditions are met. For example, the accessibility control module 340 may determine to move the accessible space of instrument 140 in response to a sensor signal or command movement indicating that the operator is attempting to reach a target in the workspace located outside the accessible space of instrument 140. In some examples, one or more movement conditions include receiving a user command via user input system 150. As an example, the user command may be a command for movement of repositionable component 110 and / or instrument 140. As another example, the user command may be a command to enter an operating mode for adjusting the pose of repositionable component 110. In some examples, one or more movement conditions include executing a command for movement, computer-aided system 100 entering or being in a specific operating mode. For example, a specific operating mode is encoded by a mode for adjusting the pose of repositionable component 110 or a remote operating mode. In some examples, one or more movement conditions include movement of at least one joint among a plurality of joints included in the repositionable assembly 110 detected by the velocity monitor 350. In some examples, one or more movement conditions include one or more of the following: receiving a user command for movement of the proximal repositionable structure via the user input system 150; executing the user-commanded movement by the proximal repositionable structure; and / or detecting movement, a non-zero rate, and / or a non-zero velocity of at least one degree of freedom of the proximal repositionable structure via the velocity monitor 350. In some examples, one or more movement conditions may include one or more of the following: receiving a user command for insertion of the instrument 140 via the user input system 150; and / or executing the user command for insertion of the instrument 140 by the repositionable assembly 110.

[0097] in this regard, Figure 5 The diagram illustrates a configuration of a computer-aided system according to one or more embodiments, wherein a target in the workspace is within reach of an instrument supported by the computer-aided system. Figure 5 In the example, configuration 500 of computer-assisted system 100 is shown. When configured in 500, the proximal repositionable structure of computer-assisted system 100 is positioned such that the HWC 502 of computer-assisted system 100 is near the opening 504 of the access workspace 506. In some examples, when the access guide is attached to the distal repositionable structure (… For exampleWhen the manipulator 126 is engaged, HWC 502 corresponds to a specific portion of the access guide 130, as indicated by the black stripe on the access guide 130. In this example, SWC 508 has also been positioned, for example by the access assist control module 340, at a first position near the opening 504 of the access workspace 506 and / or near HWC 502.

[0098] like Figure 5 As further shown, when the computer-aided system 100 is configured 500, the target 510 in the workspace 506 is located within the accessible space or immediate range of motion 512 extending from the access guide 130 into the instrument 140 within the workspace 506. For example, the target 510 is located at a depth along the insertion axis 514, which is between a minimum depth threshold 516 and a maximum depth threshold 518 of the immediate ROM 512 of the instrument 140. Therefore, regarding Figure 5 The computer-aided system 100, in configuration 500, because sensor signals or command motion indicate that the operator is not moving the working portion of the instrument 140 to reach the target located outside the instantaneous ROM 512 of the instrument 140, reaches the auxiliary control module 340 at process 406, which determines not to command the reconfiguration of the proximal repositionable structure to move the distal portion of the proximal repositionable structure relative to the workspace 506. Therefore, in this example, method 400 returns to process 402.

[0099] As another example, Figure 6A The diagram illustrates a configuration of a computer-aided system according to one or more embodiments, wherein a target in the workspace is located at a depth greater than the immediate range of motion of the instrument supported by the computer-aided system. Figure 6A In the example, configuration 600A of the computer-aided system 100 is shown. When configured as 600A, the proximal repositionable structure of the computer-aided system 100 is positioned such that the HWC 602 of the computer-aided system 100 is near the opening 604 of the access workspace 606. In some examples, when the access guide 130 is attached to the distal repositionable structure (… For example When the manipulator 126 is engaged, HWC 602 corresponds to a specific portion of the access guide 130, as indicated by the black stripe on the access guide 130. In this example, SWC 608 has also been positioned, for example by the access auxiliary control module 340, at a first position near the opening 604 of the access workspace 606 and / or near HWC 602.

[0100] like Figure 6AAs further shown, when the computer-aided system 100 is configured for configuration 600A, the target 610 in the workspace 606 is located outside the reachable space or immediate range of motion 612A extending from the access guide 130 into the instrument 140 within the workspace 606. For example, the target 610 is located at a depth along the insertion axis 614 that is deeper than the maximum depth threshold 618A of the immediate ROM 612A of the instrument 140. Therefore, regarding Figure 6A In the illustrated configuration 600A, because sensor signals or command motion indicate that the operator is attempting to move the working portion of instrument 140 to reach a target located outside the instantaneous ROM 612A of instrument 140, the auxiliary control module 340 determines at process 406 to command the reconfiguration of the proximal repositionable structure so that the distal portion of the proximal repositionable structure moves relative to the workspace 606. Specifically, because sensor signals or command motion indicate that the operator is attempting to move the working portion of instrument 140 to reach a target located at a depth along the insertion axis 614 deeper than the instantaneous ROM 612A of instrument 140, the auxiliary control module 340 determines at process 406 to command the reconfiguration of the proximal repositionable structure so that the distal portion of the proximal repositionable structure moves along the insertion axis 614 in the insertion direction. Method 400 then proceeds to process 408.

[0101] As another example, Figure 7A The diagram illustrates a configuration of a computer-aided system according to one or more embodiments, wherein a target in the workspace is within reach of an instrument supported by the computer-aided system. Figure 7A In the example, configuration 700A of the computer-aided system 100 is shown. When configured as 700A, the proximal repositionable structure of the computer-aided system 100 is positioned such that the HWC 702 of the computer-aided system 100 is near the opening 704 of the access workspace 706. In some examples, when the access guide is attached to the distal repositionable structure (… For example When the manipulator 126 is engaged, HWC 702 corresponds to a specific portion of the access guide 130, as indicated by the black stripe on the access guide 130. In this example, SWC 708 has also been positioned, for example by the access assist control module 340, at a first position near the opening 704 of the access workspace 706 and / or near HWC 702.

[0102] like Figure 7AAs further shown, when the computer-aided system 100 is configured for configuration 700A, the target 710 in the workspace 706 is located outside the reachable space or immediate range of motion 712A extending from the access guide 130 to the instrument 140 in the workspace 706. For example, the target 710 is located at a depth along the insertion axis 714 that is shallower than the minimum depth threshold 716A of the immediate ROM 712A of the instrument 140. Therefore, regarding Figure 7A In the configuration 700A shown, because sensor signals or command motion indicate that the operator is attempting to move the working portion of the instrument 140 to reach a target located outside the instantaneous ROM 712A of the instrument 140, the auxiliary control module 340 determines at process 406 to command the reconfiguration of the proximal repositionable structure so that the distal portion of the proximal repositionable structure moves relative to the workspace 706. Specifically, because sensor signals or command motion indicate that the operator is attempting to move the working portion of the instrument 140 to reach a target located at a depth along the insertion axis 714 shallower than the instantaneous ROM 712A of the instrument 140, the auxiliary control module 340 determines at process 406 to command the reconfiguration of the proximal repositionable structure so that the distal portion of the proximal repositionable structure moves along the insertion axis 714 in the retraction direction. Method 400 then proceeds to process 408.

[0103] At processing point 408, the control module, in response to the determination of command reconfiguration, commands the proximal repositionable structure to move the distal portion of the proximal repositionable structure relative to the workspace, while simultaneously repositioning the remote center of motion relative to the distal portion of the proximal repositionable structure, such that the instrument's reachability space moves relative to the workspace and the remote center of motion remains in a first position. For example, the reach-assist control module 340 commands the proximal repositionable structure via command output module 370 to move the distal portion of the proximal repositionable structure along the insertion axis to adjust the reachability space of the instrument 140. When the distal portion of the proximal repositionable structure moves along the insertion axis, the reach-assist control module 340 also repositions the RCM relative to the distal portion of the proximal repositionable structure, such that the RCM remains in a first position relative to the world reference frame. That is, when the distal portion of the proximal repositionable structure moves along the insertion axis, the reach-assist control module 340 does not move the position of the RCM. However, the position of the RCM moves relative to the distal portion of the proximal repositionable structure. In some examples, the arrival auxiliary control module 340 updates the position of the RCM relative to the distal portion of the proximal repositionable structure. In some examples, repositioning the RCM relative to the distal portion of the proximal repositionable structure includes setting the SWC at a position different from the HWC.

[0104] In some examples, in response to a sensor signal or command movement instructing the operator to move the working portion of instrument 140 to reach a target in the workspace located at a depth greater than the reachable space of instrument 140 along the insertion axis, the auxiliary control module 340 commands the proximal repositionable structure via command output module 370 to move the distal portion of the proximal repositionable structure in the insertion direction along the insertion axis. In some examples, in response to a sensor signal or command movement instructing the operator to move the working portion of instrument 140 to reach a target in the workspace located at a depth shallower than the reachable space of instrument 140 along the insertion axis, the auxiliary control module 340 commands the proximal repositionable structure via command output module 370 to move the distal portion of the proximal repositionable structure in the retraction direction along the insertion axis. In some examples, in response to an operator command, the working portion of the instrument 140 reaches a target in the workspace located at a depth shallower than the reachable space of the instrument 140 along the insertion axis, and the auxiliary control module 340 commands the proximal repositionable structure via the command output module 370 to move the distal portion of the proximal repositionable structure in the retraction direction along the insertion axis.

[0105] In some examples, the reach-assist control module 340 also commands movement of the distal repositionable structure and / or instrument 140 via command output module 370 such that the distal end and / or working portion of instrument 140 does not experience movement relative to the workspace when the distal portion of the proximal repositionable structure moves along the insertion axis. For example, the reach-assist control module 340 may command movement of the distal repositionable structure and / or instrument 140 in response to movement of the distal portion of the proximal repositionable structure in the insertion direction to move the distal end and / or working portion of instrument 140 in the retraction direction, such that the distal end and / or working portion of instrument 140 does not experience movement relative to the workspace. As another example, the reach-assist control module 340 may command movement of the distal repositionable structure and / or instrument 140 in response to movement of the distal portion of the proximal repositionable structure in the retraction direction to move the distal end and / or working portion of instrument 140 in the insertion direction, such that the distal end and / or working portion of instrument 140 does not experience movement relative to the workspace.

[0106] Figure 6B The following are illustrations based on one or more embodiments. Figure 6A The computer-aided system has been moved to adjust its configuration to accommodate the increased accessibility of the equipment it supports. Specifically, Figure 6BConfiguration 600B of the computer-aided system 100 is shown, which is generated by moving the distal portion of the proximal repositionable structure from its pose in configuration 600A to the pose of the accessible space of the adjustment device 140. When the computer-aided system 100 is configured in configuration 600B, compared to configuration 600A, HWC 602 has moved relative to the workspace 606 in the insertion direction. However, it is important that when the computer-aided system 100 is configured in configuration 600B, SWC 608 is held in a first position close to the opening 604 of the access to the workspace 606. That is, when the distal portion of the proximal repositionable structure is moved at processing 408, the access control module 340 repositions SWC 608 relative to the distal portion of the proximal repositionable structure such that the positioning of SWC 608 is held in a first position close to the opening 604 of the access to the workspace 606.

[0107] like Figure 6B As further shown, when the computer-aided system 100 is configured for configuration 600B, the reachable space or instantaneous ROM 612B of the instrument 140 has moved relative to the reachable space or instantaneous ROM 612A of the instrument 140 when the computer-aided system is configured for configuration 600A. In this example, compared to the instantaneous ROM 612A of the instrument 140, the instantaneous ROM 612B of the instrument 140 has moved in the insertion direction along the insertion axis 614, such that the target 610 is now located within the instantaneous ROM 612B of the instrument 140. For example, the target 610 is now located at a depth along the insertion axis 614, such that the target 610 is located between the minimum depth threshold 616B and the maximum depth threshold 618B of the instantaneous ROM 612B of the instrument 140.

[0108] like Figure 6B As further shown, during the movement of the distal portion of the repositionable structure along the insertion axis 614 in the insertion direction, the distal end and / or working portion of the instrument 140 does not move relative to the target 610 in the workspace 606. The distal end and / or working portion of the instrument 140 does not move relative to the target 610 in the workspace 606 because, when the movement of the proximal repositionable structure is commanded to move the distal portion of the proximal repositionable structure in the insertion direction, the auxiliary control module 340 also commands the simultaneous movement of the distal repositionable structure and / or the instrument 140 to move the distal end and / or working portion of the instrument 140 in the retraction direction.

[0109] Figure 7B The following are illustrations based on one or more embodiments. Figure 7AThe computer-aided system has been moved to adjust its configuration to accommodate the increased accessibility of the equipment it supports. Specifically, Figure 7B A configuration 700B of the computer-aided system 100 is shown, which is generated by moving the distal portion of the proximal repositionable structure from its pose in configuration 700A to a pose within the reachable space of the adjustment device 140. When the computer-aided system 100 is in configuration 700B, compared to configuration 700A, HWC 702 has moved relative to the workspace 706 in the retraction direction. However, importantly, when the computer-aided system 100 is set to configuration 700B, SWC 708 is held in a first position close to the opening 704 into the workspace 706. That is, when the distal portion of the proximal repositionable structure is moved at processing 408, the access control module 340 repositions SWC 708 relative to the distal portion of the proximal repositionable structure such that the positioning of SWC 708 is held in a first position close to the opening 704 into the workspace 706.

[0110] like Figure 7B As further shown, when the computer-aided system 100 is configured for configuration 700B, the accessible space or instantaneous ROM 712B of the instrument 140 has moved relative to the accessible space or instantaneous ROM 712A of the instrument 140 when the computer-aided system 100 is configured for configuration 700A. In this example, compared to the instantaneous ROM 712A of the instrument 140, the instantaneous ROM 712B of the instrument 140 has moved in the retraction direction along the insertion axis 714, such that the target 710 is now located within the instantaneous ROM 712B of the instrument 140. For example, the target 710 is now located at a depth along the insertion axis 714, such that the target 710 is located between the minimum depth threshold 716B and the maximum depth threshold 718B of the instantaneous ROM 712B of the instrument 140.

[0111] like Figure 7B As further shown, during the movement of the distal portion of the repositionable structure along the insertion axis 714 in the retraction direction, the distal end and / or end actuator of the instrument 140 does not move relative to the target 710 in the workspace 706. The distal end and / or working portion of the instrument 140 does not move relative to the target 710 in the workspace 706 because, when the movement of the proximal repositionable structure is commanded to move the distal portion of the proximal repositionable structure in the retraction direction, the auxiliary control module 340 also commands the simultaneous movement of the distal repositionable structure and / or the instrument 140 to move the distal end and / or working portion of the instrument 140 in the insertion direction.

[0112] After processing 408, method 400 then returns to processing 402, where the control module (e.g., the auxiliary control module 340) optionally receives another motion command from an input device (e.g., the user input system 150). Method 400 is repeated when the control module receives another motion command from the input device.

[0113] Although illustrative embodiments have been shown and described, many modifications, alterations, and substitutions are contemplated in the foregoing disclosure, and in some cases, some features of the embodiments may be employed without the need for corresponding use of other features. Those skilled in the art will recognize many variations, alternatives, and modifications. Therefore, the scope of the invention should be limited only by the appended claims, and it is appropriate that the claims be interpreted broadly and in a manner consistent with the scope of the embodiments disclosed herein.

Claims

1. A computer-aided system, comprising: A repositionable component, the repositionable component comprising: A proximal repositionable structure includes a distal portion and a plurality of joints coupling the distal portion to a base, wherein the plurality of joints provide sufficient degrees of freedom to allow a series of joint states for the same state of the distal portion, and A distally repositionable structure is attached to the distal portion, the distally repositionable structure being configured to support the working portion of the device and allow the working portion to move within an accessible space; A sensor system configured to provide sensor signals indicating the physical configuration of the repositionable component; and The control system includes one or more processors and is configured to: In response to receiving a motion command from an input device, the movement of the plurality of joints is commanded, the movement causing the distal portion to pivot about a remote motion center located at a first position relative to the workspace. At least based on the sensor signals, determine whether to command the reconfiguration of the proximal repositionable structure to move the distal portion relative to the workspace, such that the accessible space moves relative to the workspace, and In response to the determination of the reconfiguration command, the proximal repositionable structure is commanded to move the distal portion relative to the workspace while repositioning the remote center of motion relative to the distal portion, such that the accessible space moves relative to the workspace and the remote center of motion remains in the first position.

2. The computer-aided system according to claim 1, wherein, The reachable space is defined by the range of motion limitation of the distal repositionable structure, wherein the range of motion limitation includes a translation limitation along the insertion axis of the distal repositionable structure.

3. The computer-aided system according to claim 1, wherein, Repositioning the remote center of motion relative to the distal portion includes: Set up a remote sports center in the software; or The position of the software remote motion center is updated so that the software remote motion center has moved relative to the distal portion.

4. The computer-aided system according to claim 1, wherein, In order to determine the reconfiguration described in the command, the control system is configured to: Determine whether to move the reachable space; and Determine whether one or more movement conditions are met.

5. The computer-aided system according to claim 4, wherein, The movement condition in one or more movement conditions is selected from the group consisting of: Receives a user command for the movement of the repositionable component or the device; The user-commanded movement is executed by the repositionable component; Received a user command to enter a mode for adjusting the pose of the repositionable component; The computer-aided system enters or is in a mode for adjusting the pose of the repositionable component; Received a user command to enter a mode for remotely operating the repositionable component; The computer-aided system enters or is in a mode for remotely operating the repositionable component; as well as Movement of at least one of the plurality of joints of the repositionable component was detected.

6. The computer-aided system according to claim 4, wherein, The movement condition in one or more movement conditions is selected from the group consisting of: Receives a user command for the movement of the proximal repositionable structure; User-commanded movement is executed by the proximal repositionable structure; as well as A non-zero velocity in at least one degree of freedom of the proximal repositionable structure was detected.

7. The computer-aided system according to claim 4, wherein, The movement condition in one or more movement conditions is selected from the group consisting of: Received a user command for inserting the device; as well as Execute the user command for inserting the instrument.

8. The computer-aided system according to claim 1, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace, the control system is configured to: Simultaneously commanding the proximal repositionable structure to move the distal portion relative to the workspace: commanding the insertion of one or more instruments supported by the distal repositionable structure or the retraction of the one or more instruments.

9. The computer-aided system according to claim 1, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace, the control system is configured to: Simultaneously, the proximal repositionable structure is commanded to move the distal portion relative to the workspace by actuating one or more joints of the proximal repositionable structure for purposes other than moving the distal portion.

10. The computer-aided system according to claim 1, wherein, The control system is also configured to: Prior to movement of the distal portion, the position of the software-controlled remote motion center of the proximal repositionable structure is defined at the first position.

11. The computer-aided system according to claim 1, wherein, The control system is also configured to: The movement of at least one of the distal repositionable structure or the instrument is commanded such that the positioning of the working portion of the instrument relative to the workspace is maintained when the distal portion moves during the reconfiguration.

12. The computer-aided system according to claim 1, wherein, The control system is also configured to: During the reconfiguration, the proximal repositionable structure is commanded to move the distal portion, while the instrument is commanded to insert or retract relative to the workspace.

13. The computer-aided system according to claim 1, wherein, To determine whether to command the reconfiguration, the control system is configured to: In response to an indication that the operator is attempting to reach a target within the workspace, the command to reconfigure the proximal repositionable structure is determined, the target being: Located outside the accessible space, or Within the workspace, it is positioned deeper than the accessible space, or It is positioned in the workspace as shallower than the accessible space.

14. The computer-aided system according to claim 1, wherein, To determine whether to command the reconfiguration, the control system is also configured to: The reconfiguration of the proximal repositionable structure is determined in response to the following indication: The boundary of the reachable space; Within the threshold of the reachable space; Within a predefined portion of the reachable space; Shallower than the minimum depth threshold; or It is deeper than the maximum depth threshold.

15. The computer-aided system according to claim 14, wherein: The minimum depth threshold value is based on at least one of the type of the device, the kinematic configuration of the device, or the type of process performed by the computer-aided system; or The value of the maximum depth threshold is based on at least one of the type of the device, the kinematic configuration of the device, or the type of process performed by the computer-aided system.

16. The computer-aided system according to claim 1, wherein: The device comprises multiple devices supported by the distally repositionable structure; and The control system is also configured to determine, in response to the sensor signal indicating that a corresponding working portion of each of the plurality of instruments, including a non-imaging instrument, is deeper than the minimum insertion depth or shallower than the maximum insertion depth, to command the reconfiguration of the proximal repositionable structure.

17. The computer-aided system according to claim 1, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: In response to an operator's instruction that the working part is commanded to go deeper in the workspace than the reachable space or that the working part is deeper than a maximum depth threshold, it is determined to move the distal part relative to the workspace in the insertion direction. or In response to an instruction from the operator that the working portion is shallower than the reachable space in the workspace or an instruction that the working portion is shallower than a minimum depth threshold, it is determined to move the distal portion relative to the workspace in the retraction direction.

18. The computer-aided system according to claim 1, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: The joint of the distal repositionable structure is determined to be within the threshold of the joint's range of motion limitation; or It is determined that the movement commanded by the operator exceeds the range of motion limit of the joint.

19. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: The command instructs the proximal repositionable structure to move the distal portion a predefined distance relative to the workspace along the insertion axis.

20. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: Determine at least one of the amount or direction in which the distal portion moves relative to the workspace during the reconfiguration; and The command describes a proximal repositionable structure that moves the distal portion by a determined amount or direction.

21. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: During the reconfiguration, the proximal repositionable structure is commanded to move the distal portion relative to the workspace only in the insertion direction.

22. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: respond to receiving a command from the input device for increasing the total insertion amount of the instrument: The proximal repositionable structure is commanded to move the distal portion, such that the instrument is inserted into the first portion of the total quantity; as well as Command the movement of at least one degree of freedom of the distal repositionable structure or the instrument, such that the instrument is inserted into the second portion of the total quantity.

23. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: The speed at which the distal portion is commanded to move during the reconfiguration is determined based on at least one speed selected from the group consisting of: the linear velocity of the distal repositionable structure, the linear velocity of the proximal repositionable structure, and the linear velocity of the instrument.

24. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: The speed at which the movement of the distal portion is commanded during the reconfiguration is determined based on at least one command speed selected from the group consisting of: the command speed of the distal repositionable structure, the command speed of the proximal repositionable structure, and the command speed of the instrument.

25. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: The speed at which the distal portion is commanded to move during the reconfiguration is determined based on the speed of the movement of the plurality of joints that pivots the distal portion about the remote center of motion.

26. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: The speed at which the distal portion moves during the reconfiguration is determined based on the positioning of the working portion of the instrument relative to the accessible space.

27. The computer-aided system according to claim 26, wherein, In order to determine the speed of movement of the distal portion during the reconfiguration, the control system is configured to: A higher rate is determined in response to a sensor signal indicating that the working part is positioned within a first threshold of the boundary of the accessible space; as well as A lower rate is determined in response to a sensor signal indicating that the positioning of the working part is not within the first threshold of the boundary.

28. The computer-aided system according to any one of claims 1 to 18, wherein, In order to command the proximal repositionable structure to move the distal portion relative to the workspace and simultaneously reposition the remote center of motion relative to the distal portion, the control system is configured to: Determine the command speed at which the working part moves during the reconfiguration; and The speed at which the proximal repositionable structure is moved during the reconfiguration to move the distal portion is determined based on the command speed.

29. The computer-aided system according to any one of claims 1 to 18, wherein, The control system is also configured to: The range of motion of the distal portion during the reconfiguration is limited based on the model of the workspace or user-defined depth constraints.

30. The computer-aided system according to any one of claims 1 to 18, wherein, The control system is also configured to: At least based on the sensor signals, it is determined whether the range of motion of one or more joints of the proximal repositionable structure has been reached, whether a collision has occurred between the instrument and the material in the workspace, or whether the instrument and the material in the workspace will collide; as well as During the reconfiguration, movement of the distal portion is disabled in response to the determination that the range of motion limit has been reached, or that a collision has occurred, or that the instrument and the material will collide.

31. A method for operating a repositionable component, the method comprising: The control system commands the movement of multiple joints of the proximal repositionable structure of the repositionable component in response to receiving a motion command from the input device, the movement causing the distal portion of the proximal repositionable structure to pivot about a remote motion center located at a first position relative to the workspace. The control system determines, at least based on sensor signals indicating the physical configuration of the repositionable component, whether to command the reconfiguration of the proximal repositionable structure to move the distal portion relative to the workspace, such that the accessible space of the working portion of the instrument supported by the distal repositionable structure attached to the distal portion moves relative to the workspace. as well as The control system, in response to the determination of the command to reconfigure, commands the proximal repositionable structure to move the distal portion relative to the workspace, while simultaneously repositioning the remote motion center relative to the distal portion, such that the accessible space moves relative to the workspace and the remote motion center remains in the first position.

32. The method according to claim 31, wherein, The reachable space is defined by the range of motion limitation of the distal repositionable structure, wherein the range of motion limitation includes a translation limitation along the insertion axis of the distal repositionable structure.

33. The method according to claim 31, wherein, Repositioning the remote center of motion relative to the distal portion includes: Set up a remote sports center in the software; or The position of the software remote motion center is updated so that the software remote motion center has moved relative to the distal portion.

34. The method of claim 31, wherein determining the reconfiguration command comprises: Determine whether to move the reachable space; as well as Determine whether one or more movement conditions are met.

35. The method according to claim 34, wherein, The movement condition in one or more movement conditions is selected from the group consisting of: Receives a user command for the movement of the repositionable component or the device; The user-commanded movement is executed by the repositionable component; Received a user command to enter a mode for adjusting the pose of the repositionable component; The repositionable component enters or is in a mode for adjusting the pose of the repositionable component; Received a user command to enter a mode for remotely operating the repositionable component; The repositionable component enters or is in a mode for remotely operating the repositionable component; as well as Movement of at least one of the plurality of joints of the repositionable component was detected.

36. The method according to claim 34, wherein, The movement condition in one or more movement conditions is selected from the group consisting of: Receives a user command for the movement of the proximal repositionable structure; User-commanded movement is executed by the proximal repositionable structure; as well as A non-zero velocity in at least one degree of freedom of the proximal repositionable structure was detected.

37. The method of claim 34, wherein, The movement condition in one or more movement conditions is selected from the group consisting of: Received a user command for inserting the device; as well as Execute the user command for inserting the instrument.

38. The method according to claim 31, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace includes: Simultaneously commanding the proximal repositionable structure to move the distal portion relative to the workspace: commanding the insertion of one or more instruments supported by the distal repositionable structure or the retraction of the one or more instruments.

39. The method according to claim 31, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace includes: Simultaneously, the proximal repositionable structure is commanded to move the distal portion relative to the workspace by actuating one or more joints of the proximal repositionable structure for purposes other than moving the distal portion.

40. The method of claim 31, further comprising: Before the distal portion moves, the control system limits the position of the software-controlled remote motion center of the proximal repositionable structure to the first position.

41. The method of claim 31, further comprising: The movement of at least one of the distal repositionable structure or the instrument is commanded such that the positioning of the working portion of the instrument relative to the workspace is maintained when the distal portion moves during the reconfiguration.

42. The method of claim 31, further comprising: During the reconfiguration, the proximal repositionable structure is commanded to move the distal portion, while the instrument is commanded to insert or retract relative to the workspace.

43. The method according to claim 31, wherein, Determining whether to command the reconfiguration includes: In response to an indication that the operator is attempting to reach a target within the workspace, the command to reconfigure the proximal repositionable structure is determined, the target being: Located outside the accessible space, or Within the workspace, it is positioned deeper than the accessible space, or It is positioned in the workspace as shallower than the accessible space.

44. The method according to claim 31, wherein, Determining whether to command the reconfiguration includes: The reconfiguration of the proximal repositionable structure is determined in response to the following indication: The boundary of the reachable space; Within the threshold of the reachable space; Within a predefined portion of the reachable space; Shallower than the minimum depth threshold; or It is deeper than the maximum depth threshold.

45. The method according to claim 44, wherein: The value of the minimum depth threshold is based on at least one of the type of the device, the kinematic configuration of the device, or the type of process performed by the method; or The value of the maximum depth threshold is based on at least one of the type of the instrument, the kinematic configuration of the instrument, or the type of process performed by the method.

46. ​​The method according to claim 31, wherein: The device is included in a plurality of devices supported by the distally repositionable structure; and The method further includes: determining, in response to the sensor signal indicating that a corresponding working portion of each of the plurality of instruments, including a non-imaging instrument, is deeper than a minimum insertion depth or shallower than a maximum insertion depth, to command the reconfiguration of the proximal repositionable structure.

47. The method according to claim 31, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: In response to an operator's instruction that the working portion is deeper in the workspace than the reachable space or that the working portion is deeper than a maximum depth threshold, determine to move the distal portion relative to the workspace in the insertion direction; or In response to an instruction from the operator that the working portion is shallower than the reachable space in the workspace or an instruction that the working portion is shallower than a minimum depth threshold, it is determined to move the distal portion relative to the workspace in the retraction direction.

48. The method according to claim 31, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: The joint of the distal repositionable structure is determined to be within the threshold of the joint's range of motion limitation; or It is determined that the movement commanded by the operator exceeds the range of motion limit of the joint.

49. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: The command instructs the proximal repositionable structure to move the distal portion a predefined distance relative to the workspace along the insertion axis.

50. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: Determine at least one of the amount or direction in which the distal portion moves relative to the workspace during the reconfiguration; and The command describes a proximal repositionable structure that moves the distal portion by a determined amount or direction.

51. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: During the reconfiguration, the proximal repositionable structure is commanded to move the distal portion relative to the workspace only in the insertion direction.

52. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, while simultaneously repositioning the remote center of motion relative to the distal portion, includes: responding to receiving a command from the input device for inserting the instrument to a total position. Command the proximal repositionable structure to move the distal portion, such that the instrument is inserted into the first portion of the total; and Command the movement of at least one degree of freedom of the distal repositionable structure or the instrument, such that the instrument is inserted into the second portion of the total quantity.

53. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: The speed at which the distal portion is commanded to move during the reconfiguration is determined based on at least one speed selected from the group consisting of: the linear velocity of the distal repositionable structure, the linear velocity of the proximal repositionable structure, and the linear velocity of the instrument.

54. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: The speed at which the movement of the distal portion is commanded during the reconfiguration is determined based on at least one command speed selected from the group consisting of: the command speed of the distal repositionable structure, the command speed of the proximal repositionable structure, and the command speed of the instrument.

55. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: The speed at which the distal portion is commanded to move during the reconfiguration is determined based on the speed of the movement of the plurality of joints that pivots the distal portion about the remote center of motion.

56. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: The speed at which the distal portion moves during the reconfiguration is determined based on the positioning of the working portion of the instrument relative to the accessible space.

57. The method according to claim 56, wherein, Determining the speed of movement of the distal portion during the reconfiguration includes: A higher rate is determined in response to a sensor signal indicating that the working portion is positioned within a first threshold of the accessible space; and A lower rate is determined in response to a sensor signal indicating that the positioning of the working part is not within the first threshold of the boundary.

58. The method according to any one of claims 31 to 48, wherein, Commanding the proximal repositionable structure to move the distal portion relative to the workspace, and simultaneously repositioning the remote center of motion relative to the distal portion, includes: Determine the command speed at which the working part moves during the reconfiguration; and The speed at which the proximal repositionable structure is moved during the reconfiguration to move the distal portion is determined based on the command speed.

59. The method according to any one of claims 31 to 48, further comprising: The control system limits the range of motion of the distal portion during the reconfiguration based on a model of the workspace or a user-defined depth limit.

60. The method according to any one of claims 31 to 48, further comprising: The control system determines, at least based on the sensor signals, whether the range of motion of one or more joints of the proximal repositionable structure has been reached, whether a collision has occurred between the instrument and the material in the workspace, or whether the instrument and the material in the workspace will collide. as well as During the reconfiguration, the control system disables movement of the distal portion in response to determining that the range of motion limit has been reached, or that a collision has occurred, or that the instrument and the material will collide.

61. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions, which, when executed by one or more processors associated with a computer-aided system, are adapted to cause the one or more processors to perform the method according to any one of claims 31 to 60.

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