Automatic motion control of dependent surgical robotic arms

Abstract

To improve the dependent motion between surgical robotic arms involved in multi-robot arm surgical tasks. [Solution] The motion-dependent surgical robot system utilizes an independent robot arm 20, a dependent robot arm 21, and a motion-dependent robot controller. During operation, the motion-dependent robot controller controls the independent movement of the independent robot arm in coordinate space in response to an input signal indicating the movement of the independent robot arm in coordinate space, and further controls the movement of the dependent robot arm in coordinate space as a function of the spatial geometric relationship between the independent robot arm and the dependent robot arm in coordinate space.

Description

[Technical Field]

[0001] The inventions of this disclosure generally relate to surgical robotic systems that utilize two or more surgical robotic arms (e.g., da Vinci® Surgical System, Raven Robotic Surgical System, Sport® Surgical System, Flex® Robotic System, etc.). More specifically, the inventions of this disclosure relate to improving such surgical robotic systems by providing automatic motion control of one surgical robotic arm that relies on independent operator control of another surgical robotic arm. [Background technology]

[0002] In today's surgical robotic systems, the surgical robot arms are controlled from a surgical console. Generally, the operator moves a handle on the console, where signals from the handle are interpreted and converted into movements for the surgical robot arms. More specifically, each surgical robot arm is operated independently of other (one or more) surgical robot arms, which requires the operator to frequently switch control between the surgical robot arms. This frequent switching of control between surgical robot arms creates workflow problems. [Overview of the Initiative] [Problems that the invention aims to solve]

[0003] Furthermore, in many multi-robot-arm surgical tasks, the movement of one surgical robot arm depends on the movement of another surgical robot arm for the purpose of performing the surgical task. For example, in laparoscopic surgery, the suturing operation is the synchronized work of two surgical robot arms. In another example, pick-and-place surgical tasks (e.g., suture sponge or imaging device) also require the synchronized movement of surgical robot arms. By further examples, some surgical tasks (e.g., cutting and cauterizing) designate one surgical robot arm as the leading surgical robot arm and another as the follower surgical robot arm (e.g., the follower surgical robot arm follows the leading surgical robot arm at a fixed distance along the line). Moreover, for example, if a surgical robot arm holds an endoscope and two additional surgical robot arms each hold an instrument, the movement of the robot-held endoscope depends on the position of the instrument for the purpose of keeping the robot-held instrument visible to the endoscope.

[0004] Clearly, the success or failure of multi-robot arm surgical tasks depends heavily on the skill of the surgeon console operator in frequently switching control between surgical robot arms. [Means for solving the problem]

[0005] To improve the dependent motion between surgical robotic arms involved in multi-robot-arm surgical tasks, this disclosure provides an invention for controlling two or more surgical robotic arms using one or more input devices by interpreting signals from one or more input devices (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.) and converting them into motions of independent surgical robotic arms, thereby defining the motion of one or more dependent surgical robotic arms by a spatial geometric relationship to the motion of independent surgical robotic arms. The improvement by the invention of this disclosure is intuitive control of multi-robot-arm surgical tasks, which reduces the need to switch control between surgical robotic arms.

[0006] For the purpose of describing and asserting the inventions disclosed herein, (1) The term “spatial geometric relationship” broadly encompasses the motion dependence between multiple surgical robot arms in coordinate space, defined by motion vectors in the form of linear and / or angular vectors, and is further defined by the magnitude and / or direction of the motion vectors with respect to an axis or plane in coordinate space, or the magnitude and / or direction of the motion vectors with respect to a geometric object in coordinate space. (2) The term “independent surgical robotic arm” broadly encompasses all structural configurations of surgical robotic arms known in the art of this disclosure and conceived below, having a range of motion in coordinate space controlled by an input device such as those known in the art of this disclosure, (3) The term “dependent surgical robotic arm” broadly encompasses all structural configurations of surgical robotic arms known in the art of the present disclosure, having a range of motion in coordinate space that is automatically controlled in accordance with the principles of the invention of the present disclosure, as conceivable below.

[0007] An example of a spatial geometric relationship between an independent surgical robotic arm and a dependent surgical robotic arm according to the principles of the present invention is a defined linear vector between the surgical robotic arms in coordinate space. The automatic motion control of the dependent surgical robotic arm maintains a distance between the surgical robotic arms equal to the magnitude of the linear vector, and the direction of the linear vector varies so that the dependent surgical robotic arm follows the path of the independent surgical robotic arm in coordinate space, controlled by an operator of one or more input devices (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.).

[0008] A second example of the spatial geometric relationship between an independent surgical robotic arm and a dependent surgical robotic arm according to the principles of the present disclosure is a defined linear vector between the surgical robotic arms in coordinate space, the linear vector having a direction parallel to the axes of coordinate space, a direction transverse to the plane of coordinate space, or a direction radial to the surface of a sphere. When an operator of one or more input devices uses motion control of the independent surgical robotic arm in coordinate space, the automatic motion control of the dependent surgical robotic arm maintains a distance between the surgical robotic arms equal to the magnitude of the linear vector, and further maintains the direction of the dependent surgical robotic arm corresponding to the direction of the vector, whether parallel to the axes, transverse to the plane, or radial to a sphere.

[0009] A third example of the spatial geometric relationship between an independent surgical robotic arm and a dependent surgical robotic arm according to the principles of the present invention is a defined angular vector between the surgical robotic arms in coordinate space. The automatic motion control of the dependent surgical robotic arm maintains an angular orientation between the surgical robotic arms equal to the magnitude of the angular vector, the direction of which varies so that the dependent surgical robotic arm tracks the path of the independent surgical robotic arm in coordinate space, controlled by an operator of one or more input devices (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.).

[0010] A fourth example of the spatial geometric relationship between an independent surgical robotic arm and a dependent surgical robotic arm according to the principles of the present invention is a defined angular vector between the surgical robotic arms in coordinate space, the angular vector having a direction traversing the plane of coordinate space. When an operator of one or more input devices uses motion control of the independent surgical robotic arm in coordinate space, the automatic motion control of the dependent surgical robotic arm maintains an angular orientation between the surgical robotic arms equal to the magnitude of the angular vector, and further maintains the orientation of the dependent surgical robotic arm corresponding to the direction of the angular vector traversing the plane.

[0011] A fifth example of the spatial geometric relationship between an independent surgical robotic arm and a dependent surgical robotic arm according to the principles of the present invention is defined procedural synchronization between surgical robotic arms in the performance of a surgical task (e.g., suturing in laparoscopic surgery). The automatic motion control of the dependent surgical robotic arm in coordinate space is a function of the motion of the independent surgical robotic arm in coordinate space when an operator of one or more input devices uses the motion control of the independent surgical robotic arm in coordinate space according to a specific surgical procedure (for example, the automatic motion control of the dependent surgical robotic arm is calculated via an explicit function defined by procedural synchronization or retrieved via a lookup table defining procedural synchronization).

[0012] A sixth example of the spatial geometric relationship between a pair of independent surgical robotic arms and a dependent surgical robotic arm according to the principles of the present invention is the defined relative arrangement between the surgical robotic arms in coordinate space. Automatic motion control of the dependent surgical robotic arm maintains the relative arrangement between the surgical robotic arms when the operator of the input device uses motion control of the independent surgical robotic arm in coordinate space.

[0013] Furthermore, the spatial geometric relationships of this disclosure are performed over a specified (one or more) time period or throughout a robotic surgical procedure, over specific (one or more) tasks of the robotic surgical procedure or all tasks, have conditional or fixed definitions, and are defined as a function of time.

[0014] Similarly, for the purpose of explaining and asserting the invention of this disclosure, (1) The term “motion-dependent surgical robotic system” broadly encompasses all surgical robotic systems known in the art of this disclosure and conceivable below, which incorporate the principles of the invention of this disclosure for controlling two or more surgical robotic arms by processing input signals from (one or more) input devices into motion of independent surgical robotic arms, thereby defining the motion of one or more dependent surgical robotic arms by the spatial geometric relationship of the dependent surgical robotic arms to the independent surgical robotic arms. Examples of known surgical robotic systems include, but are not limited to, the da Vinci® Surgical System, the Raven Robotic Surgical System, the Sport® Surgical System, and the Flex® Robotic System. (2) The term “motion-dependent robot control method” broadly encompasses all methods known in the art of this disclosure and conceivable below for controlling surgical robot systems, such as those described below, that incorporate the principles of the invention of this disclosure for controlling two or more surgical robot arms by processing input signals from (one or more) input devices into motion of independent surgical robot arms, thereby defining the motion of one or more dependent surgical robot arms by the spatial geometric relationship of the dependent surgical robot arms to the independent surgical robot arms. (3) The term “motion-dependent robot controller” broadly encompasses all structural configurations of a stored application-specific mainboard or application-specific integrated circuit used within the motion-dependent surgical robotic system of the present disclosure to control application examples of the principles of the various inventions of the present disclosure as described later herein. The structural configuration of the controller includes, but is not limited to, one or more processors, one or more computer-enabled / computer-readable storage media, an operating system, one or more application modules, one or more peripheral device controllers, one or more interfaces, one or more buses, one or more slots, and one or more ports. (4) The term “application module” broadly encompasses components of a motion-dependent robot controller consisting of electronic circuits and / or executable programs (e.g., executable software and / or firmware stored on one or more non-temporary computer-readable media) for executing a specific application, (5) The terms “signal,” “data,” and “command” broadly encompass all forms of detectable physical quantities or propulsions (e.g., voltage, current, or magnetic field strength) as understood in the art of this disclosure and as illustrated herein, for communicating information and / or commands that support the application of the principles of the various inventions of this disclosure, which will be described later herein. Signal / data / command communications between components of this disclosure involve methods of communication known in the art of this disclosure and conceived below, including, but not limited to, the transmission / reception of data / commands over any type of wired or wireless medium / data link, and the reading of signals / data / commands uploaded to computer-enabled / computer-readable storage medium.

[0015] One embodiment of the invention disclosed herein is a motion-dependent surgical robot system that utilizes an independent surgical robot arm, a dependent surgical robot arm, and a motion-dependent robot controller communicating with the independent surgical robot arm and the dependent surgical robot arm.

[0016] During operation, the motion-dependent robot controller controls the movement of the independent surgical robot arm in coordinate space in response to input signals indicating the movement of the independent surgical robot arm in coordinate space. The motion-dependent robot further controls the movement of the dependent surgical robot arm in coordinate space as a function of the spatial geometric relationship between the independent surgical robot arm and the dependent surgical robot arm in coordinate space.

[0017] A second embodiment of the invention disclosed herein is a motion-dependent robot controller application module that utilizes an independent motion vector generator, an independent surgical robot arm actuator, a dependent motion vector generator, and a dependent surgical robot arm actuator.

[0018] During operation, the independent motion vector generator responds to input signals indicating the movement of the independent surgical robot arm in coordinate space by generating independent motion vector signals (e.g., linear or angular vectors) to control the movement of the independent surgical robot arm in coordinate space.

[0019] The independent surgical robot arm actuator generates independent actuation commands that are useful for the movement of the independent surgical robot arm in coordinate space, in response to the generation of independent motion vector signals by an independent motion vector generator.

[0020] The dependent motion vector generator generates dependent motion vector signals (e.g., linear or angular vectors) for controlling the movement of the dependent surgical robot arm in coordinate space, as a function of the spatial geometric relationship between the independent surgical robot arm and the dependent surgical robot arm in coordinate space.

[0021] The dependent surgical robot arm actuator generates actuation commands that are beneficial to the movement of the dependent surgical robot arm in coordinate space, in response to the generation of dependent motion vector signals by the dependent motion vector generator.

[0022] A third formal embodiment of the invention disclosed herein is a motion-dependent robot control method for a motion-dependent surgical robot system. The motion-dependent robot control method involves a motion-dependent robot controller that controls the movement of an independent surgical robot arm in coordinate space in response to an input signal indicating the movement of an independent surgical robot arm in coordinate space, and a motion-dependent robot controller that controls the movement of a dependent surgical robot arm in coordinate space as a function of the spatial geometric relationship between the independent surgical robot arm and the dependent surgical robot arm in coordinate space.

[0023] The above-described embodiments and other embodiments of the invention disclosed herein, as well as various features and advantages of the invention disclosed herein, will become even clearer from the following detailed description of various embodiments of the invention disclosed herein, as read together with the accompanying drawings. The detailed description and drawings are not limiting and are merely illustrative of the invention disclosed herein, and the scope of the invention disclosed herein is defined by the accompanying claims and their equivalents. [Brief explanation of the drawing]

[0024] [Figure 1] This figure shows an exemplary embodiment of the spatial geometric relationship between an independent surgical robot arm and a dependent surgical robot arm according to the principle of the present invention. [Figure 2A-2E] This figure shows an exemplary embodiment of the spatial distance between an independent surgical robot arm and a dependent surgical robot arm according to the principle of the present invention. [Figure 3A-3D] This figure shows a further exemplary embodiment of the spatial distance between an independent surgical robot arm and a dependent surgical robot arm according to the principle of the present invention. [Figure 4A-4C] This figure shows an exemplary embodiment of the angular orientation of an independent surgical robot arm and a dependent surgical robot arm according to the principle of the present invention. [Figures 5A-5C] This figure shows a further exemplary embodiment of angular orientation between an independent surgical robot arm and a dependent surgical robot arm according to the principle of the present disclosure. [Figures 6A-6G]This figure shows an exemplary embodiment of procedural synchronization between an independent surgical robot arm and a dependent surgical robot arm according to the principle of the present invention. [Figure 7] This flowchart illustrates a first exemplary embodiment of a motion-dependent robotic control method for independent surgical robotic arms and dependent surgical robotic arms, based on the principles of the invention disclosed herein. [Figure 8A-8B] This figure shows an exemplary embodiment of obstacle avoidance by a dependent surgical robot arm according to the principle of the present invention. [Figure 9] This flowchart illustrates a second exemplary embodiment of a motion-dependent robotic control method for an independent surgical robotic arm and a dependent surgical robotic arm, according to the principles of the present invention. [Figure 10] This figure shows an exemplary embodiment of the spatial geometric relationship between a pair of independent surgical robot arms and a dependent surgical robot arm, according to the principle of the present invention. [Figure 11] This figure shows an exemplary embodiment of the relative arrangement between a pair of independent surgical robot arms and a dependent surgical robot arm according to the principle of the present invention. [Figure 12] This flowchart illustrates a first exemplary embodiment of a motion-dependent robotic control method for a pair of independent surgical robotic arms and a dependent surgical robotic arm, according to the principles of the invention disclosed herein. [Figure 13] This flowchart illustrates a second exemplary embodiment of a motion-dependent robotic control method for a pair of independent surgical robotic arms and a dependent surgical robotic arm, according to the principles of the present invention. [Figures 14A-14B] This figure shows an exemplary embodiment of a motion-dependent surgical robot system based on the principle of the present invention. [Figures 15A-15B] This figure shows an exemplary embodiment of a motion-dependent robotic controller for an independent surgical robotic arm and a dependent surgical robotic arm, according to the principles of the present disclosure. [Figures 16A-16B]This figure shows an exemplary embodiment of a motion-dependent robotic controller for a pair of independent surgical robotic arms and a dependent surgical robotic arm, according to the principles of the present disclosure. [Modes for carrying out the invention]

[0025] To facilitate understanding of the inventions of this disclosure, the following description of Figures 1 to 5 teaches the fundamental inventive principle of the spatial geometric relationship between an independent surgical robotic arm and a dependent surgical robotic arm according to the principles of the inventions of this disclosure. From this description of Figures 1 to 5, those skilled in the art will understand how to apply the principles of the inventions of this disclosure to practice a number of different spatial geometric relationships between an independent surgical robotic arm and a dependent surgical robotic arm.

[0026] Referring to Figure 1, the three-dimensional ("3D") coordinate space CS, symbolized by the XY axes shown for clarity, represents the work space for performing surgical robotic procedures (e.g., general surgical procedures, cardiac surgical procedures, neurosurgical procedures, etc.). In practice, the coordinate space CS is established by the support of the patient's anatomical regions within the work space (e.g., a patient table).

[0027] Motion vector MV of the independent surgical robot arm 20 in coordinate space CS IRA The robotic arm can be controlled by input devices of a surgical robotic system (not shown) (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.) as is known in the art of this disclosure. More specifically, the motion vector MV of the independent surgical robotic arm 20 in coordinate space CS. IRA The input signal IS is generated by an input device that directs the translation, rotation, and / or pivot of the independent surgical robot arm 20 in coordinate space CS. IRA It is a function of .

[0028] The translation, rotation, and / or pivoting of the dependent surgical robot arm 21 within the coordinate space CS is automatically controlled by the spatial geometric relationship SGR of the present disclosure between the independent surgical robot arm 20 and the dependent surgical robot arm 21. More specifically, the movement vector MV of the dependent surgical robot arm 21 within the coordinate space CS DRA is a function of the movement vector MV of the independent surgical robot arm 20 within the coordinate space CS in the context of the spatial geometric relationship SGR, thereby automatically controlling the translation, rotation, and / or pivoting of the dependent surgical robot arm 21 within the coordinate space CS.

[0029] In practice, the movement vector MV of the independent surgical robot arm 20 IRA and the movement vector MV of the dependent surgical robot arm 21 DRA are derived as the target positions of the surgical robot arms 20 and 21 within the coordinate system CS.

[0030] In one embodiment, the movement vector MV of the independent surgical robot arm 20 IRA and the movement vector MV of the dependent surgical robot arm 21 DRA are derived from three target positions of the surgical robot arms 20 and 21 within the coordinate system CS by [X Y Z] IRA and [X Y Z] DRA In a second embodiment, the movement vector MV of the independent surgical robot arm 20 IRA and the movement vector MV of the dependent surgical robot arm 21 DRA are derived from three target positions and three orientations of the surgical robot arms 20 and 21 within the coordinate system CS by [X Y Z Φ Θ Ψ] IRA and [X Y Z Φ Θ Ψ] DRA In practice, the movement vector MV of the independent surgical robot arm 20 IRA and the movement vector MV of the dependent surgical robot arm 21 DRA ​​​​​​​​​​This is derived as the target velocity of the current orientation of the surgical robot arms 20 and 21 in coordinate system CS.

[0033] In one embodiment, the motion vector MV of the independent surgical robot arm 20 IRA and the motion vector MV of the dependent surgical robot arm 21 DRA This refers to [dX / dt dY / dt dZ / dt] IRA and [dX / dt dY / dt dZ / dt] DRA These are derived as three translational velocities of surgical robot arms 20 and 21 in coordinate space CS.

[0034] In the second embodiment, the motion vector MV of the independent surgical robot arm 20 IRA and the motion vector MV of the dependent surgical robot arm 21 DRA This refers to [dX / dt dY / dt dZ / dt dΦ / dt dΘ / dt dΨ / dt] IRA and [dX / dt dY / dt dZ / dt dΦ / dt dΘ / dt dΨ / dt] DRA These are derived as the three translational velocities and three angular velocities of the surgical robot arms 20 and 21 in coordinate space CS.

[0035] The spatial geometric relation SGR is the dependence of the movement of an independent surgical robot arm 21 on the operator-controlled movement of the surgical robot arm 20 in coordinate space CS. More specifically, the spatial geometric relation SGR defines a motion vector in the form of a linear vector and / or angular vector, which is further defined by the magnitude and / or direction of the motion vector with respect to an axis or plane in coordinate space, or the magnitude and / or direction of the motion vector with respect to a geometric object in coordinate space.

[0036] The following descriptions of Figures 2 to 5 illustrate various examples of the spatial geometric relationship SGR between surgical robot arms 20 and 21.

[0037] Referring to Figure 2A, a path-following linear vector (PFLV) between surgical robot arms 20 and 21 defines a spatial geometric relationship SGR, where the automatic motion control of the dependent surgical robot arm 21 maintains a spatial distance between surgical robot arms 20 and 21 equal to the magnitude of the path-following linear vector PFLV, and the direction of the path-following linear vector PFLV varies so that the dependent surgical robot arm 21 follows the linear path LP and / or curved path CLP of the independent surgical robot arm 20 in coordinate space CS (Figure 1), controlled by an operator of one or more input devices (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.).

[0038] In practice, the direction of the path-following linear vector PFLV is variable depending on the movement of the independent surgical robot arm 20 in coordinate system CS, but the magnitude of the path-following linear vector PFLV is fixed or variable under (one or more) specific conditions. For example, the magnitude of the path-following linear vector PFLV decreases as the surgical robot arms 20 and 21 approach the target position in coordinate space CS, or decays over time as the surgical robot arms 20 and 21 are translated, rotated and / or pivoted in coordinate space CS.

[0039] Furthermore, in practice, in the implementation of the path-following linear vector PFLV, the orientation of the dependent surgical robot arm 21 in coordinate space CS depends on or does not depend on the orientation of the independent surgical robot arm 20 in coordinate space CS.

[0040] For example, Figure 2B illustrates the automatic motion control of a dependent surgical robot arm 21a, which maintains a fixed or variable spatial distance between the surgical robot arm 20a and the independent surgical robot arm 21a equal to the magnitude of the path-following linear vector PFLV, so that the dependent surgical robot arm 21a follows the linear path LP of the independent surgical robot arm 20a in coordinate space CS. In this example, the automatic motion control of the dependent surgical robot arm 21a involves the orientation of the dependent surgical robot arm 21a in coordinate space CS, which is dependent on the orientation of the independent surgical robot arm 20a in coordinate space CS (for example, the robot arms 20a and 21a maintain equivalent orientations in coordinate space CS or a fixed relative orientation in coordinate space CS).

[0041] In a further example, Figure 2C illustrates the automatic motion control of a dependent surgical robot arm 21a, which maintains a fixed or variable spatial distance between the dependent surgical robot arm 20a and the independent surgical robot arm 21a, equal to the magnitude of the path-following linear vector PFLV, so that the dependent surgical robot arm 21a follows the linear path LP of the independent surgical robot arm 20a in coordinate space CS. In this example, the automatic motion control of the dependent surgical robot arm 21a is dependent on the orientation of the dependent surgical robot arm 21a in coordinate space CS, and not on the orientation of the independent surgical robot arm 20a in coordinate space CS (for example, robot arms 20a and 21a have a variable relative orientation in coordinate space CS).

[0042] In a further example, Figure 2D illustrates the automatic motion control of a dependent surgical robot arm 21a, which maintains a fixed or variable spatial distance between the dependent surgical robot arm 20a and the independent surgical robot arm 21a, equal to the magnitude of the path-following linear vector PFLV, so that the dependent surgical robot arm 21a follows the curved path CLP of the independent surgical robot arm 20a in coordinate space CS. In this example, the automatic motion control of the dependent surgical robot arm 21a is dependent on the orientation of the independent surgical robot arm 20a in coordinate space CS, and involves the orientation of the dependent surgical robot arm 21a in coordinate space CS.

[0043] In a further example, Figure 2E illustrates the automatic motion control of a dependent surgical robot arm 21a, which maintains a fixed or variable spatial distance between the dependent surgical robot arm 20a and the independent surgical robot arm 21a, equal to the magnitude of the path-following linear vector PFLV, so that the dependent surgical robot arm 21a follows the curved path CLP of the independent surgical robot arm 20a in coordinate space CS. In this example, the automatic motion control of the dependent surgical robot arm 21a is independent of the orientation of the independent surgical robot arm 20a in coordinate space CS and is instead dependent on the orientation of the dependent surgical robot arm 21a in coordinate space CS.

[0044] Referring to Figure 3A, the geometric linear vector GLF between surgical robot arms 20 and 21 defines the spatial geometric relationship SGR, where, when an operator of one or more input devices uses motion control of the independent surgical robot arm 20 in coordinate space CS, the automatic motion control of the dependent surgical robot arm 21 maintains a spatial distance between surgical robot arms 20 and 21 equal to the magnitude of the geometric linear vector GLF, and further maintains the orientation of the dependent surgical robot arm 21 corresponding to the direction of the geometric linear vector which is parallel to the axes of coordinate space CS, transverse to the plane of coordinate space CS, or radial to the surface of a sphere.

[0045] In practice, the direction of the geometric linear vector GLF is variable depending on the movement of the independent surgical robot arm 20 in the coordinate system CS, but the magnitude of the geometric linear vector GLF is fixed or variable under (one or more) specific conditions. For example, the magnitude of the geometric linear vector GLF decreases as the surgical robot arms 20 and 21 approach the target position in coordinate space CS, or decays over time as the surgical robot arms 20 and 21 are translated, rotated and / or pivoted in coordinate space CS.

[0046] Furthermore, in practice, in the implementation form of the geometric linear vector GLF, the orientation of the dependent surgical robot arm 21 in coordinate space CS depends on or does not depend on the orientation of the independent surgical robot arm 20 in coordinate space CS.

[0047] For example, Figure 3B illustrates the automatic motion control of a dependent surgical robot arm 21a, maintaining a fixed or variable spatial distance between it and the independent surgical robot arm 20a, equal in magnitude to the geometric linear vector GLF, where the direction of the geometric linear vector GLF is fixed parallel to the X-axis of coordinate space CS. In this example, the automatic motion control of the dependent surgical robot arm 21a involves the orientation of the dependent surgical robot arm 21a in coordinate space CS, which in turn depends on the orientation of the independent surgical robot arm 20a in coordinate space CS.

[0048] In a further example, Figure 3C illustrates the automatic motion control of a dependent surgical robot arm 21a while maintaining a fixed or variable spatial distance between it and the independent surgical robot arm 20a, with the magnitude of the geometric linear vector GLF being equal to the direction of the geometric linear vector GLF, which traverses the XY plane of coordinate space CS. In this example, the automatic motion control of the dependent surgical robot arm 21a is dependent on the orientation of the dependent surgical robot arm 21a in coordinate space CS, and is independent of the orientation of the independent surgical robot arm 20a in coordinate space CS.

[0049] In a further example, Figure 3D illustrates the automatic motion control of a dependent surgical robot arm 21a, maintaining a fixed or variable spatial distance between it and a surgical robot arm 20a, where the magnitude of the geometric linear vector GLF radiating from the center of a sphere is equal to the direction of the geometric linear vector GLF along the surface of the sphere, and the direction of the independent surgical robot arm 20a depends on the rotational motion of the independent surgical robot arm 20a. In this example, the automatic motion control of the dependent surgical robot arm 21a is independent of the orientation of the independent surgical robot arm 20a in coordinate space CS, and is instead dependent on the orientation of the dependent surgical robot arm 21a in coordinate space CS.

[0050] Referring to Figure 4A, the path-trailing angular vector (PTAV) between surgical robot arms 20 and 21 defines a spatial geometric relationship SGR, where the automatic motion control of the dependent surgical robot arm 21 maintains the angular orientation of the path of surgical robot arm 20 and the path of surgical robot arm 21 so that the dependent surgical robot arm 21 tracks the independent surgical robot arm 20 in coordinate space CS, which is controlled by an operator of an input device (e.g., a handle, a joystick, a rollerball, etc.).

[0051] In practice, the direction of the path tracking angular vector PTAV is variable depending on the movement of the independent surgical robot arm 20 in the coordinate system, but the magnitude of the path tracking angular vector PTAV is fixed or variable under (one or more) specific conditions. For example, the magnitude of the path tracking angular vector PTAV decreases as the surgical robot arms 20 and 21 approach the target position in coordinate space CS, or decays over time as the surgical robot arms 20 and 21 are translated, rotated and / or pivoted in coordinate space CS.

[0052] Furthermore, in practice, in the implementation of the path tracking angular vector PTAV, the orientation of the dependent surgical robot arm 21 in coordinate space CS depends on or does not depend on the orientation of the independent surgical robot arm 20 in coordinate space CS.

[0053] For example, Figures 4B and 4C illustrate the automatic motion control of the dependent surgical robot arm 21, which maintains a fixed or variable angular orientation of the path of the surgical robot arm 20 and the path of the surgical robot arm 21, so that the dependent surgical robot arm 21 tracks the independent surgical robot arm 20 in coordinate space CS, which is controlled by an operator of one or more input devices (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.). In Figure 4B, the orientation of the dependent surgical robot arm 21a in coordinate space CS depends on the orientation of the independent surgical robot arm 20a in coordinate space CS. Conversely, in Figure 4C, the orientation of the dependent surgical robot arm 21a in coordinate space CS does not depend on the orientation of the independent surgical robot arm 20a in coordinate space CS.

[0054] Referring to Figure 5A, the geometric angular vector GAV between surgical robot arms 20 and 21 defines the spatial geometric relationship SGR, where the automatic motion control of the dependent surgical robot arm 21 maintains the angular orientation of the paths of the surgical robot arm 20 and 21 with respect to the plane of the coordinate system CS when an operator of one or more input devices uses motion control of the independent surgical robot arm 20 in coordinate space CS.

[0055] In practice, the direction of the geometric angular vector GAV is variable depending on the movement of the independent surgical robot arm 20 in the coordinate system, but the magnitude of the geometric angular vector GAV is fixed or variable under (one or more) specific conditions. For example, the magnitude of the geometric angular vector GAV decreases as the surgical robot arms 20 and 21 approach the target position in coordinate space CS, or decays over time as the surgical robot arms 20 and 21 are translated, rotated and / or pivoted in coordinate space CS.

[0056] Furthermore, in practice, in the implementation of geometric angular vector GAV, the orientation of the dependent surgical robot arm 21 in coordinate space CS depends on or does not depend on the orientation of the independent surgical robot arm 20 in coordinate space CS.

[0057] For example, Figures 5B and 5C illustrate the automatic motion control of a dependent surgical robot arm 21, which maintains a fixed or variable angular orientation of the paths of the surgical robot arm 20 and the surgical robot arm 21 relative to the XY plane, so that the dependent surgical robot arm 21 tracks an independent surgical robot arm 20 in coordinate space CS, controlled by an operator of one or more input devices (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.). In Figure 5B, the orientation of the dependent surgical robot arm 21a in coordinate space CS depends on the orientation of the independent surgical robot arm 20a in coordinate space CS. Conversely, in Figure 5C, the orientation of the dependent surgical robot arm 21a in coordinate space CS does not depend on the orientation of the independent surgical robot arm 20a in coordinate space CS.

[0058] Referring to Figure 6A, the procedural synchronization 23 between surgical robot arms 20 and 21 defines the spatial geometric relationship of this disclosure derived from the implementation of a surgical task (e.g., laparoscopic suturing), where the automatic motion control of the dependent surgical robot arm 21 in coordinate space CS is a function of the motion of the independent surgical robot arm 20 in coordinate space CS within the context of the surgical task, when an operator of one or more input devices uses motion control of the independent surgical robot arm 20 in coordinate space CS according to the surgical task.

[0059] In practice, the automatic motion control of the dependent surgical robot arm 21 is calculated via an explicit function 24 that defines the procedural relationship between the surgical robot arm 20 and the surgical robot arm 21 according to the surgical task.

[0060] In practice, the automatic motion control of the dependent surgical robot arm 21 is retrieved via a lookup table 25 that stores the procedural relationship between the surgical robot arm 20 and the surgical robot arm 21 according to the surgical task.

[0061] For example, Figures 6B to 6G show the sequential steps of laparoscopic suture tying performed by surgical robot arms 20a and 21a.

[0062] In one embodiment, the automatic motion control of the dependent surgical robot arm 21a is calculated via an explicit function that defines the procedural relationship between the surgical robot arm 20a and the surgical robot arm 21a according to the steps of the laparoscopic suture-tying task. More specifically, in this example, the explicit function defines the movement of the dependent surgical robot arm 21a relative to the position of the independent surgical robot arm 20a at the completion of the rotation of the independent surgical robot arm 20a that wraps the suture around the independent surgical robot arm 20a, as shown in Figure 6C, so that the dependent surgical robot arm 21a is automatically moved to its position relative to the independent surgical robot arm 20a, thereby grasping the suture as shown in Figure 6D. Furthermore, additional explicit functions define the movement of the dependent surgical robot arm 21a relative to the position of the independent surgical robot arm 20a at the completion of its movement through the looped thread, as shown in Figures 6D and 6E, where the dependent surgical robot arm 21a automatically moves to its position relative to the independent surgical robot arm 20a, thereby tightening the thread as shown in Figure 6G.

[0063] Alternatively, the lookup table defines the movement of the dependent surgical robot arm 21a relative to the position of the independent surgical robot arm 20a upon completion of the rotation of the independent surgical robot arm 20a that wraps the suture around the independent surgical robot arm 20a, as shown in Figure 6C, so that the dependent surgical robot arm 21a automatically moves to its position relative to the independent surgical robot arm 20a, thereby grasping the suture as shown in Figure 6D. Furthermore, the lookup table defines the movement of the dependent surgical robot arm 21a relative to the position of the independent surgical robot arm 20a upon completion of the movement of the independent surgical robot arm 20a through the looped suture, as shown in Figures 6D and 6E, so that the dependent surgical robot arm 21a automatically moves to its position relative to the independent surgical robot arm 20a, thereby tightening the suture as shown in Figure 6G.

[0064] To further facilitate understanding of the inventions of this disclosure, the following description of Figures 7-9 illustrates the basic inventive principles of motion-dependent robotic control methods for independent surgical robotic arms and dependent surgical robotic arms according to the principles of the inventions of this disclosure. From this description of Figures 7-9, those skilled in the art will understand how to apply the principles of the inventions of this disclosure to implement a number of different motion-dependent robotic control methods for independent surgical robotic arms and one or more dependent surgical robotic arms.

[0065] Referring to Figure 7, flowchart 30 illustrates a motion-dependent robot control method for an independent surgical robot arm 20 (Figure 1) and a dependent surgical robot arm 21 (Figure 1).

[0066] Step S32 of flowchart 30 is A. Robot motion RM of the independent surgical robot arm 20 in coordinate space CS with respect to the translational, rotational, and / or pivotal motion of the independent surgical robot arm 20. IRA The input signal IS indicating this is an interpretation known in the art of this disclosure, B. Motion vector MV representing the target placement or target velocity of the end effector of the independent surgical robot arm 20 in coordinate space CS. IRA Robot movement RM IRA The transformations known in the art of this disclosure, C. Actuation commands AC for (one or more) actuators (e.g., actuated joints) of the independent surgical robot arm 20 IRA A calculation known in the art of this disclosure, which thereby moves the end effector of an independent surgical robot arm 20 to a target position or at a target velocity in coordinate space CS, and This involves the movement of an independent surgical robot arm in coordinate space CS (Figure 1).

[0067] In practice, the actuation commands AC of each actuator of the independent surgical robot arm 20 are used to translate, rotate, and / or pivot the independent arm 20 from its current position to the target position in coordinate space CS. IRA An inverse kinematics model is used to calculate this.

[0068] Furthermore, in practice, the actuation commands AC of each actuator of the independent surgical robot arm 20 are used to translate, rotate, and / or pivot the independent surgical robot arm 20 at a target velocity in coordinate space CS. IRA The Jacobian function is used to calculate this.

[0069] An exemplary execution of step S32 shown in Figure 7 involves an input device 103 (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.) receiving the input signal IS IRA This disclosure includes communicating to the motion-dependent robot controller 104a, which communicates the actuation command AC previously described for step S32. IRA The system calculates a value and uses it to control the independent movement of the independent surgical robot arm 20.

[0070] Once the end effector motion transformation in step S32 is complete, step S34 of flowchart 30 proceeds as follows: A. Motion vector MV representing the target placement or target velocity of the end effector of the dependent surgical robot arm 21 in coordinate space CS. DRA This is the calculation of the motion vector MV. DRA However, motion vector MV for the independent surgical robot arm 20 IRA The motion vector MV is a function of the function between the function and any applicable spatial geometric relation (for example, one of the spatial geometric relations in Figures 2-6). DRA Calculation and B. Actuation commands AC for (one or more) actuators (e.g., actuated joints) of the dependent surgical robot arm 21 DRA A calculation known in the art of this disclosure, which thereby moves the end effector of a dependent surgical robot arm 21 to a target position or at a target velocity in coordinate space CS, and This involves the dependent surgical robot arm movement within coordinate space CS (Figure 1).

[0071] In practice, the actuation commands AC of each actuator of the dependent surgical robot arm 21 are used to translate, rotate, and / or pivot the dependent surgical robot arm 21 from its current position to the target position in coordinate space CS. DRA An inverse kinematics model is used to calculate this.

[0072] Furthermore, in practice, the actuation commands AC of each actuator of the dependent surgical robot arm 21 are used to translate, rotate, and / or pivot the dependent surgical robot arm 21 at the target velocity in coordinate space CS. DRA The Jacobian function is used to calculate this.

[0073] The exemplary execution of step S34 shown in Figure 7 is when the motion-dependent robot controller 104a acts on command AC as previously described for step S34. DRAThis involves calculating and thereby controlling the movement of a dependent surgical robot arm 21 in coordinate space CS, which is dependent on the movement of an independent surgical robot arm 20 in coordinate space CS.

[0074] In practice, the motion-dependent robot controller of this disclosure performs obstacle avoidance of environmental hazards while controlling the movement of a dependent surgical robot arm 21 in coordinate space CS, which in turn depends on the movement of an independent surgical robot arm 20 in coordinate space CS.

[0075] For example, Figure 8A shows collision areas CA1 and CA2 representing staff, devices, and / or sensors in the operating room. In order for surgical robot arms 20a and 21a to avoid collision areas CA1 and CA2, input devices of the surgical robot system are operated to control the movement of the independent surgical robot arm 21a in avoiding collision areas CA1 and CA2, but the motion-dependent robot controller of this disclosure processes environmental information indicating the location of collision areas CA1 and CA2 and modifies the dependent movement of the dependent surgical robot arm 21a as necessary to avoid collision areas CA1 and CA2. The environmental information is provided in this case by a tracking system (e.g., an electromagnetic tracking system or an optical tracking system) registered with the surgical robot system.

[0076] In a further example, Figure 8B shows anatomical forbidden zones FZ1-FZ3 relative to a sphere for controlling the movement of a dependent surgical robot arm 21a that depends on the movement of an independent surgical robot arm 20a. The motion-dependent robot controller of this disclosure processes information indicating the location of the anatomical forbidden zones FZ1-FZ3 and modifies the dependent movement of the dependent surgical robot arm 21a as necessary to avoid the anatomical forbidden zones FZ1-FZ3. The environmental information is derived in this case from (one or more) images of an anatomical region showing the anatomical forbidden zones FZ1-FZ3 defined within (one or more) images (e.g., a fusion of intraoperative and preoperative images or endoscopic images).

[0077] More specifically, as shown in Figure 8B, if a constant distance is maintained between the surgical robot arm 20a and the surgical robot arm 21a on the surface of the sphere, the position of the dependent surgical robot arm 21a is somewhere on the sphere. Therefore, if the ambient signal is endoscopic video, the operator can mark acceptable (or prohibited) zones on the image. Thus, as the independent surgical robot arm 20a moves, the motion-dependent robot controller of this disclosure tracks (one or more) acceptable zones in the image and calculates the section on the surface of the sphere where the dependent surgical robot arm 21a is permitted.

[0078] Referring to Figure 9, flowchart 40 represents a motion-dependent robot control method for an independent surgical robot arm 20 (Figure 1) and a dependent surgical robot arm 21 (Figure 1) incorporating an obstacle avoidance mechanism. In particular, flowchart 40 is a modified version of flowchart 30 (Figure 7) previously described herein, with step S42 of flowchart 40 corresponding to step S32 of flowchart 30, and step S44 of flowchart 40 corresponding to step S34 of flowchart 30. The motion-dependent robot controller 104b of this disclosure is... A. Allowable zone AZ in coordinate space CS DRA Environmental signals ES to bring about DRA The interpretation known in the art of this disclosure and, B. Motion vector MV representing the target placement or target velocity of the end effector of the dependent surgical robot arm 21 in coordinate space CS. DRA This is the calculation of the motion vector MV. DRA However, motion vector MV for the independent surgical robot arm 20 IRA And any applicable spatial geometric relationship (for example, one of the spatial geometric relationships in Figures 2 to 6), and the allowable zone AZ. DRA The motion vector MV is a function of DRA Calculation and Further actions will be carried out.

[0079] To facilitate a further understanding of the inventions of this disclosure, the following description of Figures 10-13 teaches the fundamental inventive principle of the spatial geometric relationship between a pair of independent surgical robot arms and a dependent surgical robot arm according to the principles of the inventions of this disclosure. From this description of Figures 10-13, those skilled in the art will understand how to apply the principles of the inventions of this disclosure to practice a number of different spatial geometric relationships between a pair of independent surgical robot arms and a dependent surgical robot arm.

[0080] Referring to Figure 10, in this case as well, the three-dimensional ("3D") coordinate space CS, symbolized by the XY axes shown for clarity, represents the work space for performing surgical robotic procedures (e.g., general surgical procedures, cardiac surgical procedures, neurosurgical procedures, etc.). In practice, the coordinate space CS is established by the support of the patient's anatomical region within the work space (e.g., a patient table).

[0081] Motion vectors MV of independent surgical robot arms 20 and 22 in coordinate space CS IRA The robotic arms are controllable by input devices of a surgical robotic system (not shown) (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.) as is known in the art of this disclosure. More specifically, the motion vectors MV of the independent surgical robotic arms 20 and 22 in coordinate space CS. IRA1 and MV IRA2 The input signals IS are generated by (one or more) input devices that direct the translation, rotation, and / or pivot of the independent surgical robot arms 20 and 22 in coordinate space CS. IRA1 and IS IRA2 It is a function of . In practice, the input device is switchable between controlling the movement of surgical robot arms 20 and 22 in coordinate space CS, or alternatively, two separate input devices are used to independently control the movement of surgical robot arms 20 and 22 in coordinate space CS.

[0082] The translation, rotation, and / or pivot of the dependent surgical robot arm 21 in coordinate space CS is automatically controlled by the spatial geometric relationship SGR of this disclosure between the independent surgical robot arms 20 and 22 and the dependent surgical robot arm 21. More specifically, the motion vector MV of the dependent surgical robot arm 21 in coordinate space CS. DRA This is the motion vector MV of the independent surgical robot arm 20 in coordinate space CS within the context of the spatial geometric relationship SGR. IRA1 and the motion vector MV of the independent surgical robot arm 22 IRA2 This is a function that automatically controls the translation, rotation, and / or pivot of the dependent surgical robot arm 21 in coordinate space CS.

[0083] In reality, the motion vector MV of the independent surgical robot arm 20 IRA1 And the motion vector MV of the independent surgical robot arm 22 IRA2 And the motion vector MV of the dependent surgical robot arm 21 DRA This is derived as the target positions of the surgical robot arms 20-22 in the coordinate system CS, as previously described herein.

[0084] Furthermore, in practice, the motion vector MV of the independent surgical robot arm 20 IRA1 And the motion vector MV of the independent surgical robot arm 22 IRA2 And the motion vector MV of the dependent surgical robot arm 21 DRA This is derived as the target velocity of the current orientation of surgical robot arms 20-22 within coordinate system CS.

[0085] The spatial geometric relation SGR is the dependence of the movement of the surgical robot arm 21 on the operator-controlled movement of the independent surgical robot arms 20 and 22 in coordinate space CS. More specifically, the spatial geometric relation SGR defines motion vectors in the form of linear and / or angular vectors, which are further defined by the magnitude and / or direction of the motion vectors with respect to an axis or plane in coordinate space, or the magnitude and / or direction of the motion vectors with respect to a geometric object in coordinate space.

[0086] In practice, the spatial geometric relationship SGR between surgical robot arm 20 and surgical robot arm 21, and the different spatial geometric relationship SGR between surgical robot arm 21 and surgical robot arm 22, are performed concurrently by the motion-dependent robot controller of the present invention (for example, the spatial geometric relationship SGRs in Figures 2 to 6).

[0087] Alternatively, in practice, a single spatial geometric relationship SGR between surgical robot arms 20-22 is implemented by the motion-dependent robot controller of the present invention.

[0088] The following description of Figure 11 illustrates an example of a spatial geometric relationship (SGR) between surgical robot arms 20 and 22.

[0089] Referring to Figure 11, the spatial distance triangle SDT defines the spatial geometric relationship between surgical robot arms 20-22 to maintain the spatial distance between the endoscope-dependent surgical robot arm 21b and the independent surgical robot arm 20a and the independent surgical robot arm 22a when the independent surgical robot arms 20a and 22a are moved toward or away from the anatomical object AO.

[0090] Referring to Figure 12, flowchart 50 represents a motion-dependent robot control method for independent surgical robot arms 20 and 22 (Figure 10) and dependent surgical robot arm 21 (Figure 10). In particular, flowchart 50 is a modified version of flowchart 30 (Figure 7) previously described herein, with step S52 of flowchart 50 corresponding to step S32 of flowchart 30, and step S54 of flowchart 50 corresponding to step S34 of flowchart 30. The motion-dependent robot controller 104c of this disclosure uses motion vectors MV representing the target placement or target velocity of the end effector of the dependent surgical robot arm 21 in coordinate space CS. DRA The motion vector MV is calculated, and there, DRA This is a motion vector MV for an independent surgical robot arm 20.IRA1 And, motion vector MV for the independent surgical robot arm 22 IRA2 It is a function of this and any applicable spatial geometric relation (for example, one of the spatial geometric relations in Figures 2-6 and Figure 11).

[0091] Referring to Figure 13, flowchart 50 represents a motion-dependent robot control method for independent surgical robot arms 20 and 22 (Figure 10) and dependent surgical robot arm 21 (Figure 10) incorporating obstacle avoidance. In particular, flowchart 60 is a modified version of flowchart 40 (Figure 9) previously described herein, with step S62 of flowchart 60 corresponding to step S42 of flowchart 40, and step S64 of flowchart 60 corresponding to step S44 of flowchart 40. The motion-dependent robot controller 104d of this disclosure uses motion vectors MV representing the target placement or target velocity of the end effector of the dependent surgical robot arm 21 in coordinate space CS. DRA The motion vector MV is calculated, and there, DRA This is a motion vector MV for an independent surgical robot arm 20. IRA1 And, motion vector MV for the independent surgical robot arm 22 IRA2 This is a function of the allowable zone AZ between any applicable spatial geometric relation (for example, one of the spatial geometric relations in Figures 2-6 and Figure 11).

[0092] To facilitate a further understanding of the inventions of this disclosure, the following description of Figures 14-16 illustrates the basic inventive principles of the motion-dependent surgical robot system and motion-dependent surgical robot controller according to the principles of the inventions of this disclosure. From this description of Figures 14-16, those skilled in the art will understand how to apply the principles of the inventions of this disclosure to implement numerous different embodiments of the motion-dependent surgical robot system and motion-dependent surgical robot controller according to the principles of the inventions of this disclosure.

[0093] Referring to Figure 14A, the motion-dependent surgical robot system 100a of the present disclosure utilizes an operator console 101 and a robot cart 105a.

[0094] The operator console 101a includes a display / image controller 102 for displaying preoperative images, intraoperative images, and / or fusions of such images, as is known in the art of the present disclosure.

[0095] The operator console 101a further includes one or more input devices 103 (e.g., one or more handles, one or more joysticks, one or more rollerballs, etc.) and a motion-dependent robot controller 104, as will be further described herein with reference to Figures 15 and 16.

[0096] The robot cart 105a includes an independent surgical robot arm 20, a dependent surgical robot arm 21, and a patient table 106.

[0097] In practice, the robot cart 105a includes an additional surgical robot arm 20 and / or surgical robot arm 21.

[0098] In practice, the surgical robotic arm may serve as an independent or dependent surgical robotic arm based on the specific surgical task to be performed by the system 100.

[0099] Referring to Figure 14B, the motion-dependent surgical robot system 100b is an alternative version of system 100a (Figure 14A), in which the robot cart 105b includes a motion-dependent robot controller 104.

[0100] The motion-dependent surgical robotic systems of this disclosure (e.g., systems 100a and 100b) are implemented in conjunction with an imaging system and / or a tracking system.

[0101] When used, the imaging system implements any imaging modality known in the art of this disclosure and conceivable below for imaging anatomical regions (not shown) and for communicating imaging data providing information about such imaging to a motion-dependent surgical robot system. Examples of imaging modalities include, but are not limited to, CT, MRI, X-ray, and ultrasound.

[0102] Alternatively, the imaging system may be omitted, particularly when a motion-dependent surgical robotic system utilizes imaging instruments held by surgical robotic arms for imaging anatomical structures. Examples of such imaging instruments include, but are not limited to, endoscopes and laparoscopes.

[0103] When used, the tracking system implements any tracking techniques known in the art of this disclosure and conceivable below for tracking a surgical robotic arm in coordinate space and for communicating tracking data indicating such tracking to a motion-dependent surgical robotic system. Examples of tracking techniques include, but are not limited to, electromagnetic tracking, optical tracking, and Fiber-Optic RealShape ("FORS") sensor tracking.

[0104] Alternatively, the tracking system may be omitted, particularly when a motion-dependent surgical robotic system utilizes encoded surgical robotic arm generation tracking data to track (one or more) surgical robotic arms in coordinate space.

[0105] Next, exemplary embodiments of the motion-dependent robot controller 104 are described herein.

[0106] For example, the motion-dependent robot controller 104 includes a processor, memory, user interface, network interface, and storage, all interconnected via one or more system buses.

[0107] A processor is any hardware device capable of executing instructions stored in memory or storage, or, in some cases, processing data. Therefore, a processor includes a microprocessor, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or other similar devices.

[0108] Memory includes various types of memory, such as L1, L2, or L3 caches, or system memory. Therefore, memory includes static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read-only memory (ROM), or other similar memory devices.

[0109] The user interface includes one or more devices to enable communication with users, such as administrators. For example, the user interface includes a display, mouse, and keyboard for receiving user commands. In some embodiments, the user interface includes a command-line interface or a graphical user interface presented to a remote terminal via a network interface.

[0110] A network interface includes one or more devices to enable communication with other hardware devices. For example, a network interface includes a network interface card (NIC) configured to communicate according to the Ethernet® protocol. Furthermore, a network interface implements a TCP / IP stack for communication using the TCP / IP protocol. Various alternative or further hardware or configurations for a network interface will become apparent.

[0111] Storage includes one or more machine-readable storage media, such as read-only memory (ROM), random-access memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, or similar storage media. In various embodiments, storage stores instructions for the processor to execute or data for which the processor operates. For example, storage stores a base operating system for controlling various basic operations of the hardware. Storage further stores one or more application modules in the form of executable software / firmware and / or one or more application modules.

[0112] Referring to Figure 15A, an embodiment of the motion-dependent robot controller 104 utilizes application modules 110-113 to execute flowchart 30 (Figure 7).

[0113] In particular, according to step S32 of flowchart 30, the independent motion vector generator 110 receives the input signal IS IRA Process the motion vector MV IRA The independent surgical robot arm actuator 111 generates a motion vector MV. IRA Process and activate command AC IRA Generates.

[0114] Furthermore, according to step S34 of flowchart 30, the dependent motion vector generator 112a generates the motion vector MV in the context of the spatial geometric relation SGR. IRA Process the motion vector MV DRA The independent surgical robot arm actuator 111 generates a motion vector MV. DRA Process and activate command AC DRA Generates.

[0115] Referring to Figure 15B, an embodiment of the motion-dependent robot controller 104 utilizes application modules 110-113 to execute flowchart 40 (Figure 9).

[0116] Specifically, according to step S42 of flowchart 40, the independent motion vector generator 110 processes the input signal IS IRA to generate a motion vector MV IRA and the independent surgical robot arm actuator 111 processes the motion vector MV IRA to generate an activation command AC IRA .

[0117] Furthermore, according to step S44 of flowchart 40, the dependent motion vector generator 112b processes the motion vector MV IRA and the environmental signal EI DRA in the context of the spatial geometric relationship SGR to generate a motion vector MV DRA and the independent surgical robot arm actuator 111 processes the motion vector MV DRA to generate an activation command AC DRA .

[0118] Referring to FIG. 16A, an embodiment of the motion dependency robot controller 104 utilizes components 110-113 for executing flowchart 50 (FIG. 12).

[0119] Specifically, according to step S52 of flowchart 50, the independent motion vector generator 110a processes the input signal IS IRA1 to generate a motion vector MV IRA1 and the independent surgical robot arm actuator 111a processes the motion vector MV IRA1 to generate an activation command AC IRA1 , the independent motion vector generator 110b processes the input signal IS IRA2 to generate a motion vector MV IRA2 and the independent surgical robot arm actuator 111b processes the motion vector MV IRA2 to generate an activation command AC IRA2 .

[0120] Furthermore, according to step S54 of flowchart 50, the dependent motion vector generator 112c processes the motion vector MV IRA1 and the motion vector MV IRA2 to generate the motion vector MV DRA and the independent surgical robot arm actuator 111 processes the motion vector MV DRA to generate the activation command AC DRA .

[0121] Referring to FIG. 16B, an embodiment of the motion dependency robot controller 104 utilizes components 110-113 to execute flowchart 60 (FIG. 13).

[0122] Specifically, according to step S62 of flowchart 60, the independent motion vector generator 110a processes the input signal IS IRA1 to generate the motion vector MV IRA1 and the independent surgical robot arm actuator 111a processes the motion vector MV IRA1 to generate the activation command AC IRA1 , and the independent motion vector generator 110b processes the input signal IS IRA2 to generate the motion vector MV IRA2 and the independent surgical robot arm actuator 111b processes the motion vector MV IRA2 to generate the activation command AC IRA2 .

[0123] Furthermore, according to step S64 of flowchart 60, the dependent motion vector generator 112d processes the motion vector MV IRA1 and the motion vector MV IRA2 and the environmental signal EI DRA to generate the motion vector MV DRA and the independent surgical robot arm actuator 111 processes the motion vector MV DRA to generate the activation command AC DRA .

[0124] Referring to Figures 1 to 16, those skilled in the art will recognize the numerous benefits of the present disclosure, including, but are not limited to, improvements to surgical robot systems by the present invention in providing intuitive control of multi-robot arm surgical tasks, thereby reducing the need to switch control between robot arms.

[0125] Furthermore, as a person skilled in the art will understand in light of the teachings provided herein, the features, elements, components etc. described and / or depicted in the drawings may be implemented in various combinations of electronic components / circuits, hardware, executable software, and executable firmware, and may provide functions that can be combined within a single element or multiple elements. For example, the functions of the various features, elements, components etc. shown / illustrated / depicted in each figure may be provided using dedicated hardware or hardware capable of running software in conjunction with appropriate software. If provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or multiple individual processors (some of which may be shared and / or multiplexed). Furthermore, the explicit use of the term “processor” should not be interpreted as referring exclusively to software-executable hardware, but implicitly to include, for example, digital signal processor ("DSP") hardware, memory (e.g., read-only memory ("ROM"), random-access memory ("RAM"), non-volatile memory, etc.) for storing software, and substantially any means and / or machine (e.g., hardware, software, firmware, circuitry, combinations thereof, etc.) capable of executing and / or controlling (and / or configurable to do so).

[0126] Furthermore, all descriptions herein describing the principles, aspects, and embodiments of the present invention, as well as specific examples thereof, are intended to encompass both their structural and functional equivalents. Moreover, such equivalents are intended to include both currently known equivalents and those to be developed in the future (e.g., any developed element, regardless of its structure, capable of performing the same or substantially similar functions). Thus, a person skilled in the art, having read the teachings provided herein, will understand that, for example, block diagrams presented herein may represent conceptual diagrams of exemplary system components and / or circuits embodying the principles of the present invention. Similarly, a person skilled in the art, having read the teachings provided herein, will understand that any flowcharts and diagrams, etc., may be substantially represented in a computer-readable storage medium and may represent various processes that may be performed by a computer, processor, or other device having processing capabilities, whether or not a computer or processor is explicitly indicated.

[0127] Furthermore, exemplary embodiments of this disclosure may take the form of computer program products or application modules accessible from computer-available and / or computer-readable media that provide program code and / or instructions used by or in connection with a computer or any instruction execution system. According to this disclosure, computer-available or computer-readable storage media may be any device that can store, communicate, propagate, or transfer programs used by or in connection with an instruction execution system, apparatus, or device. Such exemplary media may be, for example, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems (or apparatus or devices) or propagation media. Examples of computer-readable media include semiconductor or solid memory, magnetic tape, removable computer diskettes, random access memory (RAM), read-only memory (ROM), flash (drives), rigid magnetic disks, and optical disks. Current examples of optical disks include CD-ROMs, CD-R / Ws, and DVDs. Furthermore, it will be understood that any new computer-readable media that may be developed in the future should also be considered computer-readable media that may be used or referred to in accordance with the exemplary embodiments of this disclosure.

[0128] While we have described preferred exemplary embodiments of novel and inventive image-guided motion scales (embodiments are illustrative and not intended to be limiting), please note that those skilled in the art, having access to the teachings provided herein, including the drawings, may make modifications and alterations. Therefore, please understand that modifications may be made to the preferred exemplary embodiments of this disclosure, within the scope of the embodiments disclosed herein.

[0129] Furthermore, corresponding and / or related systems that incorporate and / or implement the devices relating to this disclosure, or that may be used / implemented in the devices, are also considered to be within the scope of this disclosure. In addition, corresponding and / or related methods for manufacturing and / or using the devices and / or systems relating to this disclosure are also considered to be within the scope of this disclosure.

Claims

1. Independent robotic arm and A dependent robotic arm, The independent robot arm and the motion-dependent robot controller communicating with the dependent robot arm A motion-dependent surgical robotic system comprising, The motion-dependent robot controller controls the movement of the independent robot arm in coordinate space in response to an input signal indicating the movement of the independent robot arm in coordinate space. The motion-dependent robot controller further controls the movement of the dependent robot arm in the coordinate space as a function of the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space. Motion-dependent surgical robotic system.

2. The motion-dependent surgical robot system according to claim 1, wherein the orientation of the dependent robot arm in the coordinate space depends on the orientation of the independent robot arm in the coordinate space.

3. The motion-dependent surgical robot system according to claim 1, wherein the orientation of the dependent robot arm in the coordinate space is independent of the orientation of the independent robot arm in the coordinate space.

4. The motion-dependent surgical robot system according to claim 1, wherein a linear vector defines the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space.

5. The magnitude of the aforementioned linear vector is variable, and The direction of the linear vector is one of the following: parallel to the axes of the coordinate space, transverse to the plane of the coordinate space, or radial to the center of the sphere in the coordinate space. One of these is the dependent surgical robot system according to claim 4.

6. The motion-dependent surgical robot system according to claim 1, wherein angular velocity defines the spatial geometric relationship between the independent robot arm and the dependent robot arm.

7. The magnitude of the aforementioned angular vector is variable, and The direction of the linear vector is across the plane of the coordinate space. One of these is the motion-dependent surgical robot system according to claim 4.

8. The motion-dependent surgical robot system according to claim 1, wherein procedural synchronization defines the spatial geometric relationship between the independent robot arm and the dependent robot arm.

9. The motion-dependent surgical robot system according to claim 1, wherein the motion-dependent robot controller further controls the movement of the dependent robot arm in the coordinate space as a function of obstacle avoidance by the dependent robot arm in the coordinate space.

10. The motion-dependent robot controller described above is An independent motion vector generator that generates an independent motion vector signal for controlling the movement of the independent robot arm in coordinate space in response to an input signal indicating the movement of the independent robot arm in coordinate space, An independent robot arm actuator that generates independent action commands useful for the movement of the independent robot arm in coordinate space in response to the generation of the independent motion vector signal by the independent motion vector generator, A dependent motion vector generator that generates a dependent motion vector signal for controlling the movement of the dependent robot arm in the coordinate space, as a function of the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space, A dependent robot arm actuator generates an actuation command that is beneficial to the movement of the dependent robot arm in coordinate space in response to the generation of the dependent motion vector signal by the dependent motion vector generator, and A motion-dependent surgical robot system according to claim 1, comprising:

11. The independent motion vector includes at least one of the magnitude and direction that indicate the arrangement of the independent robot arm in the coordinate space, The dependent motion vector includes at least one of the magnitude and direction that indicate the arrangement of the dependent robot arm in the coordinate space. The motion-dependent surgical robotic system according to claim 10.

12. The independent motion vector includes at least one of the magnitude and direction that indicate the velocity of the independent robot arm in the coordinate space, The dependent motion vector includes at least one of the magnitude and direction that represent the velocity of the dependent robot arm in the coordinate space. The motion-dependent surgical robotic system according to claim 10.

13. An independent motion vector generator that generates an independent motion vector signal for controlling the movement of an independent robot arm in coordinate space in response to an input signal indicating the movement of an independent robot arm in coordinate space, An independent robot arm actuator that generates independent action commands useful for the movement of the independent robot arm in coordinate space in response to the generation of the independent motion vector signal by the independent motion vector generator, A dependent motion vector generator generates a dependent motion vector signal for controlling the movement of the dependent robot arm in the coordinate space, as a function of the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space. A dependent robot arm actuator generates an actuation command that is beneficial to the movement of the dependent robot arm in coordinate space in response to the generation of the dependent motion vector signal by the dependent motion vector generator, and A motion-dependent robot controller equipped with the following features.

14. The independent motion vector includes at least one of the magnitude and direction that indicate the arrangement of the independent robot arm in the coordinate space, The dependent motion vector includes at least one of the magnitude and direction that indicate the arrangement of the dependent robot arm in the coordinate space. The motion-dependent robot controller according to claim 13.

15. The independent motion vector includes at least one of the magnitude and direction that indicate the velocity of the independent robot arm in the coordinate space, The dependent motion vector includes at least one of the magnitude and direction that represent the velocity of the dependent robot arm in the coordinate space. The motion-dependent robot controller according to claim 13.

16. A motion-dependent robot control method for a motion-dependent surgical robot system comprising an independent robot arm, a dependent robot arm, and a motion-dependent robot controller, wherein the motion-dependent robot control method is: The motion-dependent robot controller controls the movement of the independent robot arm in coordinate space in response to an input signal indicating the movement of the independent robot arm in coordinate space. The motion-dependent robot controller controls the movement of the dependent robot arm in the coordinate space as a function of the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space. A motion-dependent robot control method having the following characteristics.

17. The motion-dependent robot control method according to claim 16, wherein a linear vector defines the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space.

18. The motion-dependent robot control method according to claim 16, wherein an angular vector defines the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space.

19. The motion-dependent robot control method according to claim 16, wherein procedural synchronization defines the spatial geometric relationship between the independent robot arm and the dependent robot arm.

20. The motion-dependent robot control method according to claim 16, wherein the motion-dependent robot controller further controls the movement of the dependent robot arm in the coordinate space as a function of obstacle avoidance by the dependent robot arm in the coordinate space.

Images