Collision Avoidance in a Surgical Robot Based on Detection of Contact Information

Abstract

The robotic system may be capable of collision detection and collision avoidance. The medical robotic system may include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system may be configured to cause an adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on constraints determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors.

Description

Technical Field

[0001] The systems and methods disclosed herein are directed to medical robotic systems having robotic arms, and more specifically, to medical robotic systems that can automatically adjust the robotic arms to avoid collisions.

Background Art

[0002] During a medical procedure using a medical robotic system, the robotic arms may come into contact with each other (e.g., collision between arms) and with the environment (e.g., patients, bedside staff, and accessories). Collisions between robotic arms can be predicted and avoided based on known arm configurations, but predicting and completely avoiding collisions with other objects, especially objects whose positions change over time, has been difficult. Regardless of the type of collision, the collision can cause problems in the medical procedure, and thus there is a need for a medical robotic system that can reduce or eliminate the occurrence of collisions with robotic arms.

Summary of the Invention

Means for Solving the Problems

[0003] Disclosed herein is a medical robotic system that uses one or more sensors on a kinematic component (e.g., a robotic arm) to detect a force (e.g., other parameters of a collision). The detected force or other parameters of the collision are used to adjust the configuration (e.g., position) of the kinematic component, which in turn reduces the future occurrence of collisions with the kinematic component.

[0004] According to some embodiments, a medical robot system includes one or more sensors positioned to detect one or more parameters of contact between a first kinematic chain and one or more portions of the first kinematic chain, one or more processors in communication with the one or more sensors, and a memory storing instructions that, when executed by the one or more processors, cause the adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on constraints determined from one or more parameters of contact with the first kinematic chain detected by the one or more sensors.

[0005] According to some embodiments, a method is performed by an electronic device in communication with a medical robot system. The medical robot system includes a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with the first kinematic chain. The method includes receiving one or more parameters of contact with the first kinematic chain detected by the one or more sensors, determining a constraint associated with the first kinematic chain based on the one or more parameters of contact with the first kinematic chain, and causing the adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on the constraint.

[0006] According to some embodiments, an electronic device includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to receive one or more parameters of contact with a first kinematic chain of a medical robot system detected by one or more sensors, determine a constraint associated with the first kinematic chain based on the one or more parameters of contact with the first kinematic chain, and adjust the configuration of the first kinematic chain from a first configuration to a second configuration based on the constraint.

[0007] According to some embodiments, a computer-readable storage medium stores instructions for execution by one or more processors of an electronic device. The stored instructions include instructions for receiving, by one or more processors, one or more parameters of contact with a first kinematic chain of a medical robotic system detected by one or more sensors; determining, by the one or more processors, based on the one or more parameters of contact with the first kinematic chain, constraints associated with the first kinematic chain; and causing, by the one or more processors based on the constraints, an adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration.

[0008] According to some embodiments, a medical robotic system includes a first robotic arm, one or more sensors positioned to detect the presence of an object adjacent to the first robotic arm, one or more processors in communication with the one or more sensors, and a memory. The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to receive, from the one or more sensors, first sensor information corresponding to one or more positional locations of one or more objects within a vicinity of the first robotic arm; generate or update an object map based on the first sensor information, the object map characterizing a spatial relationship of objects adjacent to the first robotic arm; and adjust a configuration of the first robotic arm from a first configuration to a second configuration based on the object map.

[0009] According to some embodiments, a medical robot system includes a first robotic arm, one or more sensors positioned to detect the presence of dynamic objects within the vicinity of the first robotic arm, one or more processors in communication with the one or more sensors, and a memory. The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to receive, from the one or more sensors, sensor information corresponding to the positions of dynamic objects within the vicinity of the first robotic arm, generate or update an object map based on the sensor information, wherein the object map characterizes the spatial relationships of the objects within the vicinity of the first robotic arm, and adjust the configuration of the first robotic arm from a first configuration to a second configuration based on the object map.

[0010] According to some embodiments, a method is executed by an electronic device in communication with a medical robot system including a first robotic arm and one or more sensors positioned to detect the presence of objects within the vicinity of the first robotic arm. The method includes receiving, from the one or more sensors, sensor information corresponding to the positions of one or more objects present within the vicinity of the first robotic arm, generating or updating an object map based on the sensor information, wherein the object map characterizes the spatial relationships of the objects within the vicinity of the first robotic arm, and adjusting the configuration of the first robotic arm from a first configuration to a second configuration based on the object map.

[0011] According to some embodiments, an electronic device includes one or more processors and a memory. The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to receive sensor information corresponding to the positions of one or more objects within the vicinity of a first robotic arm of a medical robotic system from one or more sensors, generate or update an object map based on the sensor information, where the object map characterizes the spatial relationships of the objects within the vicinity of the first robotic arm, and adjust the configuration of the first robotic arm from a first configuration to a second configuration based on the object map.

[0012] According to some embodiments, a computer-readable storage medium stores instructions for execution by one or more processors of an electronic device. The stored instructions include instructions for receiving sensor information corresponding to the positions of one or more objects existing adjacent to a first robotic arm of a medical robotic system, generating or updating an object map based on the sensor information, where the object map characterizes the spatial relationships of the objects adjacent to the first robotic arm, and causing an adjustment of the configuration of the first robotic arm from a first configuration to a second configuration based on the object map.

Brief Description of the Drawings

[0013] The disclosed aspects are described below in conjunction with the accompanying drawings, which illustrate, but do not limit, the disclosed aspects, and like reference numerals refer to like elements.

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Mode for Carrying Out the Invention

[0014] 1. General Outline Aspects of the present disclosure can be integrated into a robotic medical system capable of performing a variety of medical procedures, including both minimally invasive procedures such as laparoscopic procedures and non-invasive procedures such as endoscopic procedures. Among endoscopic procedures, the system can perform bronchoscopy, ureteroscopy, gastroscopy, and the like.

[0015] In addition to performing a wide range of procedures, the system can provide additional benefits such as enhanced imaging and guidance to assist the physician. Additionally, the system can provide the physician with the ability to perform procedures from an ergonomic position without the need for cumbersome arms and movements. Furthermore, the system can provide the physician with the ability to perform procedures with improved ease of use such that one or more of the instruments of the system can be controlled by a single user.

[0016] The following describes various embodiments in conjunction with the drawings for illustrative purposes. It should be understood that many other implementation aspects of the disclosed concepts are possible and that various advantages can be achieved with the disclosed implementations. Headings are included herein for reference purposes to assist in identifying the locations of various sections. These headings are not intended to limit the scope of the concepts described in relation thereto. Such concepts may have applicability throughout this document.

[0017] A. Robot System - Cart A robot-compatible medical system can be configured in various ways depending on the particular procedure. FIG. 1 shows an embodiment of a cart-based robot-compatible system 10 arranged for a diagnostic and / or therapeutic bronchoscopy procedure. During bronchoscopy, the system 10 can include a cart 11 having one or more robotic arms 12 for delivering a medical instrument, such as a steerable endoscope 13 that can be a dedicated bronchoscope for the bronchoscopy procedure, to a natural orifice access point (i.e., in this example, the patient's mouth positioned on the table) for delivering a diagnostic tool and / or a therapeutic tool. As shown, the cart 11 can be positioned proximate to the upper torso of the patient to provide access to the access point. Similarly, the robotic arm 12 can be actuated to position the bronchoscope relative to the access point. The arrangement of FIG. 1 can also be utilized when performing a gastrointestinal (GI) procedure using a gastroscope, which is a special endoscope for GI procedures. FIG. 2 illustrates an exemplary embodiment of the cart in more detail.

[0018] Continuing to refer to FIG. 1, when the cart 11 is properly positioned, the robotic arm 12 can insert the steerable endoscope 13 into the patient either robotically, manually, or in combination thereof. As shown, the steerable endoscope 13 may include at least two nested components such as an inner leader portion and an outer sheath portion, each portion being coupled to a separate instrument driver from a set of instrument drivers 28, and each instrument driver being coupled to the distal end of an individual robotic arm. This linear arrangement of the instrument drivers 28, which facilitates aligning the leader portion coaxially with the sheath portion, forms a "virtual rail" 29 that can be repositioned in space by operating one or more robotic arms 12 at different angles and / or positions. The virtual rails described herein are illustrated in the figures using dashed lines, and thus the dashed lines do not illustrate the physical structure of any system. The translation of the instrument drivers 28 along the virtual rail 29 nests the inner leader portion within the outer sheath portion or advances or retracts the endoscope 13 from the patient. The angle of the virtual rail 29 may be adjusted, translated, and pivoted based on clinical use or the preference of the physician. For example, in bronchoscopy, the angle and position of the virtual rail 29 as shown represent a compromise that provides the physician access to the endoscope 13 while minimizing friction by bending the endoscope 13 into the patient's mouth.

[0019] The endoscope 13 may be directed downstream into the patient's trachea and lungs after insertion using precise commands from the robotic system until it reaches the target destination or surgical site. To facilitate navigation through the patient's pulmonary network and / or to reach the desired target, the endoscope 13 may be manipulated to extend the inner leader portion telescopically from the outer sheath portion to obtain increased articulation and a greater bending radius. The use of separate instrument drivers 28 also allows the leader portion and the sheath portion to be driven independently of each other.

[0020] For example, the endoscope 13 may be directed to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle may be deployed below the working channel over the length of the endoscope to obtain a tissue sample that is analyzed by a pathologist. Depending on the pathology results, additional tools may be deployed downstream of the working channel of the endoscope for additional biopsies. After identifying a nodule as malignant, the endoscope 13 may deliver tools endoscopically to excise potential cancerous tissue. In some cases, diagnostic and therapeutic procedures can be provided in separate procedures. In these situations, the endoscope 13 may also be used to deliver a fiducial to "mark" the location of the target nodule. In other examples, diagnostic and therapeutic procedures may be delivered during the same procedure.

[0021] The system 10 may also include a movable tower 30 that is connected to the cart 11 via a support cable and that can provide support for control, electronics, fluidics, optics, sensors, and / or power to the cart 11. By placing such functions within the tower 30, a smaller form factor cart 11 is enabled that can be more easily adjusted and / or repositioned by the physician and staff performing the procedure. Additionally, the separation of functions between the cart / table and the support tower 30 reduces clutter in the operating room and facilitates improved clinical workflows. The cart 11 may be positioned in proximity to the patient, while the tower 30 may be housed in a remote location so as not to be obstructive during the procedure.

[0022] To support the robot system described above, tower 30 may include components of a computer-based control system that stores computer program instructions in a non-transitory computer-readable storage medium such as, for example, a persistent magnetic storage drive, a solid-state drive, etc. Execution of these instructions may control the overall system or a subsystem thereof, whether the execution occurs within tower 30 or within cart 11. For example, when executed by a processor of a computer system, the instructions may cause components of the robot system to operate associated carriages and arm mounts, operate the robot arm, and control medical instruments. For example, in response to receiving a control signal, motors within the joints of the robot arm may position the arm in a particular posture.

[0023] Tower 30 may also include a pump, a flow meter, valve control, and / or fluid access to provide controlled perfusion and suction functions to a system that can be deployed through endoscope 13. These components may also be controlled using the computer system of tower 30. In some embodiments, the perfusion and suction capabilities may be delivered directly to endoscope 13 via a separate cable.

[0024] Tower 30 may include voltage and surge protection devices designed to provide filtered and protected power to cart 11, thereby avoiding the placement of a power transformer and other auxiliary power components within cart 11 and making cart 11 smaller and more mobile.

[0025] Tower 30 may also include support equipment for sensors deployed throughout the robot system 10. For example, tower 30 may include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras through the robot system 10. In combination with the control system, such optoelectronic equipment may be used to generate real-time images for display within any number of consoles located throughout the system, including within tower 30. Similarly, tower 30 may also include an electronic subsystem for receiving signals from deployed electromagnetic (EM) sensors and processing the received signals. Tower 30 may also be used to house and position an EM field generator for detection by an EM sensor within or on a medical device.

[0026] Tower 30 may also include console 31, in addition to other consoles available to the rest of the system, such as a console mounted on top of a cart. Console 31 may include a user interface for an operator, such as a physician, and a display screen, such as a touch screen. Consoles within system 10 are generally designed to provide both robot control and both pre-operative and real-time information for a procedure, such as navigation information and localization information for endoscope 13. If console 31 is not the only console available to the physician, console 31 may be used by a second operator, such as a nurse, to monitor the patient's health or vitals and the operation of the system and to provide procedure-specific data, such as navigation and localization information. In other embodiments, console 31 is housed within a separate body from tower 30.

[0027] The tower 30 may be coupled to the cart 11 and the endoscope 13 via one or more cables or connections (not shown). In some embodiments, the support functions from the tower 30 can be provided to the cart 11 through a single cable, simplifying and organizing the operating room. In other embodiments, certain functions may be coupled with separate wiring and connections. For example, power may be supplied to the cart through a single power cable, while support for control, optics, fluidics, and / or navigation may be provided through separate cables.

[0028] FIG. 2 provides a detailed view of an embodiment of the cart from the cart-based robotic-enabled system shown in FIG. 1. The cart 11 generally includes an elongated support structure 14 (often referred to as a “column”), a cart base 15, and a console 16 at the top of the column 14. The column 14 may include one or more carriages, such as a carriage 17 (alternatively an “arm support”) for supporting the deployment of one or more robotic arms 12 (three are shown in FIG. 2). The carriage 17 may include individually configurable arm mounts that rotate along a vertical axis to better position the base of the robotic arm 12 with respect to the patient. The carriage 17 also includes a carriage interface 19 that allows the carriage 17 to translate vertically along the column 14.

[0029] The carriage interface 19 is connected to the column 14 through slots such as slot 20 positioned on both sides of the column 14 to guide the vertical translation of the carriage 17. Slot 20 includes a vertical translation interface for positioning and holding the carriage at various vertical heights relative to the cart base 15. Due to the vertical translation of the carriage 17, the cart 11 can adjust the reach of the robotic arm 12 to meet various table heights, patient sizes, and physician preferences. Similarly, with the individually configurable arm mounts on the carriage 17, the robotic arm base 21 of the robotic arm 12 can be angled in various configurations.

[0030] In some embodiments, to prevent dirt and fluid from entering the internal chamber of the column 14 and the vertical translation interface when the carriage 17 translates vertically, a slot cover that is coplanar and parallel to the slot surface may be added to the slot 20. The slot cover may be deployed through a pair of spring spools positioned near the vertical top and bottom of the slot 20. The cover is coiled in the spool until it is deployed to stretch and contract from a coiled state as the carriage 17 translates vertically up and down. The spring load of the spool provides a force to retract the cover into the spool when the carriage 17 translates towards the spool, while maintaining the seal when the carriage 17 translates away from the spool. The cover may be connected to the carriage 17 using, for example, brackets within the carriage interface 19 to ensure that the cover stretches and retracts properly as the carriage 17 translates.

[0031] The column 14 may include internal mechanisms such as gears and motors designed to use a lead screw aligned vertically to mechanically translate the carriage 17 in response to a control signal generated in response to a user input, such as an input from the console 16.

[0032] The robotic arm 12 may generally include a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24. Each joint includes an independent actuator, and each actuator includes a separately controllable motor. Each separately controllable joint represents an independent degree of freedom available to the robotic arm. Each of the arms 12 has seven joints and thus provides seven degrees of freedom. A large number of joints result in a large number of degrees of freedom, enabling "redundant" degrees of freedom. The redundant degrees of freedom enable the robotic arm 12 to position its respective end effector 22 at a particular position, orientation, and trajectory in space using different joint positions and angles. This enables the system to position and orient a medical instrument from a desired point in space, while at the same time allowing the physician to move the arm joints to a clinically advantageous position away from the patient, creating better access while avoiding arm collisions.

[0033] The cart base 15 balances the weight of the column 14, carriage 17, and arm 12 on the floor. Thus, the cart base 15 houses heavier components such as electronics, motors, power supplies, and components that enable either movement and / or immobilization of the cart. For example, the cart base 15 includes rollable wheel-shaped casters 25 that enable the cart to be easily moved around the room before a procedure. After reaching an appropriate position, the casters 25 may be made immovable using wheel locks to hold the cart 11 in place during the procedure.

[0034] The console 16 positioned at the vertical end of column 14 enables both a user interface for receiving user input and a display screen (or a dual-purpose device such as, for example, touch screen 26), providing both preoperative data and intraoperative data to the user, who is a doctor. Potential preoperative data on the touch screen 26 may include preoperative planning, navigation and mapping data derived from preoperative computerized tomography (CT) scans, and / or notes from preoperative patient interviews. Intraoperative data on the display may include optical information provided by the tool, sensor and coordinate information from sensors, and vital patient statistics such as respiration, heart rate, and / or pulse. The console 16 is positioned to enable the doctor to access the console from the side of column 14 opposite the carriage 17 and may be tilted. From this position, the doctor can view the console 16, the robotic arm 12, and the patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 that aids in the operation and stabilization of the cart 11.

[0035] Figure 3 shows an embodiment of the robot-compatible system 10 arranged for ureteroscopy. In a ureteroscopy procedure, the cart 11 may be positioned to deliver a ureteroscope 32, a dedicated endoscope designed to traverse the patient's urethra and ureter, to the patient's lower abdominal area. In ureteroscopy, it may be desirable for the ureteroscope 32 to be directly aligned with the patient's urethra to reduce friction and force on sensitive anatomical structures within the area. As shown, the cart 11 may be aligned with the legs of the table such that the robotic arm 12 is positioned to enable direct linear access to the ureteroscope 32 into the patient's urethra. From the legs of the table, the robotic arm 12 may insert the ureteroscope 32 directly along a virtual rail 33 through the urethra into the patient's lower abdomen.

[0036] After being inserted into the urethra using control techniques similar to those in bronchoscopy, the ureteroscope 32 may be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic purposes. For example, the ureteroscope 32 may be directed towards the ureter and kidney, and the formed kidney stones may be crushed using a laser or ultrasonic lithotripsy device deployed below the working channel of the ureteroscope 32. After the lithotripsy is completed, the resulting stone fragments may be removed using a basket deployed below the ureteroscope 32.

[0037] Figure 4 shows an embodiment of a robot-compatible system similarly arranged for vascular procedures. In a vascular procedure, the system 10 may be configured such that the cart 11 can deliver a medical instrument 34, such as a steerable catheter, to an access point within the femoral artery in the patient's leg. The femoral artery presents both a larger diameter for navigation and a relatively less tortuous path to the patient's heart, thereby simplifying navigation. As in the ureteroscopy procedure, the cart 11 may be positioned towards the patient's leg and lower abdomen to enable the robotic arm 12 to provide a virtual rail 35 with direct linear access to the femoral artery access point within the patient's thigh / lumbar region. After insertion into the artery, the medical instrument 34 may be directed and inserted by translating the instrument driver 28. Alternatively, the cart may be positioned around the patient's upper abdomen to reach alternative vascular access points, such as the carotid and brachial arteries near the shoulder and hand.

[0038] B. Robot System - Table Embodiments of a robotic-enabled medical system may also incorporate a patient table. Incorporating the table reduces the amount of capital equipment in the operating room by removing the cart and allows for greater access to the patient. FIG. 5 shows an embodiment of such a robotic-enabled system positioned for a bronchoscopy procedure. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a “table” or “bed”) above the floor. Similar to the cart-based system, the end effector of the robotic arm 39 of system 36 includes an instrument driver 42 designed to manipulate an elongate medical instrument, such as the bronchoscope 40 of FIG. 5, through or along a virtual rail 41 formed from the linear alignment of the instrument driver 42. In practice, a C-arm for providing fluoroscopic imaging may be positioned above the upper abdominal area of the patient by placing the radiator and detector around the table 38.

[0039] Figure 6 provides an alternative view of system 36 without a patient and medical instruments for purposes of discussion. As shown, column 37 may include one or more carriages 43 illustrated as ring-shaped within system 36 that can serve as the base of one or more robotic arms 39. The carriage 43 may translate along a vertical column interface 44 over the length of column 37 to provide different vantage points where the robotic arm 39 can be positioned to reach the patient. The carriage 43 may rotate around column 37 using a mechanical motor positioned within column 37 to enable the robotic arm 39 to have access to multiple sides of table 38, such as both sides of the patient. In embodiments having multiple carriages, the carriages may be individually positioned on the column and may translate and / or rotate independently of other carriages. The carriage 43 need not surround column 37 or even be circular, although the ring shape as illustrated facilitates rotation of the carriage 43 around column 37 while maintaining structural balance. By rotation and translation of the carriage 43, the system can align medical instruments, such as endoscopes and laparoscopes, to different access points on the patient. In other embodiments (not shown), system 36 can include a patient table or bed having an adjustable arm support in the form of parallel extending bars or rails. One or more robotic arms 39 can be attached to an adjustable arm support that can be adjusted vertically (e.g., via a shoulder having an elbow joint). By providing vertical adjustment, the robotic arm 39 can advantageously be compactly housed under the patient table or bed and then raised during the procedure.

[0040] The arm 39 may be mounted to the carriage via a set of arm mounts 45 that include a series of joints that can rotate individually and / or extend telescopically to provide additional configurability to the robotic arm 39. Additionally, the arm mounts 45 may be positioned on the carriage 43 such that when the carriage 43 is properly rotated, the arm mounts 45 can be positioned on the same side of the table 38 (as shown in FIG. 6), on both sides of the table 38 (as shown in FIG. 9), or on adjacent sides of the table 38 (not shown).

[0041] The column 37 structurally provides a path for the support of the table 38 and the vertical translation of the carriage. Internally, the column 37 may be provided with a lead screw for guiding the vertical translation of the carriage and a motor for mechanizing the translation of the carriage based on the lead screw. The column 37 may also transmit power and control signals to the carriage 43 and the robotic arm 39 mounted thereon.

[0042] The table base 46 serves a similar function to the cart base 15 of the cart 11 shown in FIG. 2 and houses heavier components to balance the table / bed 38, column 37, carriage 43, and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during treatment. The casters deployed from the bottom of the table base 46 extend in opposite directions on both sides of the base 46 and may retract when it is necessary to move the system 36.

[0043] Continuing with reference to FIG. 6, the system 36 may also include a tower (not shown) that divides the functionality of the system 36 between the table and the tower to reduce the form factor and bulk of the table. As in the previously disclosed embodiments, the tower may provide various support functions to the table, such as processing, computing, and control capabilities, power, fluidics, and / or optics and sensor processing. The tower may also be movable to be positioned away from the patient to improve physician access and to organize the operating room. Additionally, positioning components within the tower allows for more storage space within the table base for potential housing of robotic arms. The tower may also include a master controller or console that provides both a user interface for user input, such as a keyboard and / or pendant, and a display screen (or touch screen) for preoperative and intraoperative information, such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a holder for a gas tank used for insufflation.

[0044] In some embodiments, the table base may house and store the robotic arm when not in use. FIG. 7 shows a system 47 that houses a robotic arm in an embodiment of a table-based system. In system 47, the carriage 48 may be translated vertically into the base 49 to house the robotic arm 50, the arm mount 51, and the carriage 48 within the base 49. The base cover 52 may open and close in a translational and retracting manner to position the carriage 48, the arm mount 51, and the arm 50 around the column 53 and to house and protect them when not in use. The base cover 52 may be sealed with a membrane 54 along the edges of its opening to prevent dirt and fluid ingress when closed.

[0045] FIG. 8 shows an embodiment of a robotic-enabled table-based system configured for ureteroscopy procedures. In ureteroscopy, table 38 may include a swivel portion 55 for positioning the patient at an off-angle from column 37 and table base 46. The swivel portion 55 may rotate or pivot about a pivot point (e.g., located below the patient's head) to position the bottom of the swivel portion 55 away from column 37. For example, pivoting of the swivel portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without interfering with the space of a column (not shown) under table 38. By rotating a carriage (not shown) around column 37, robotic arm 39 may directly insert ureteroscope 56 along virtual rail 57 into the patient's groin area to reach the urethra. In ureteroscopy, a stirrup 58 may also be secured to the swivel portion 55 of table 38 to support the position of the patient's legs during the procedure and allow clear access to the patient's groin area.

[0046] In laparoscopy procedures, minimally invasive instruments may be inserted through small incisions in the patient's abdominal wall into the patient's anatomical structures. In some embodiments, the minimally invasive instruments include elongated rigid members such as shafts used to access anatomical structures within the patient. After inflation of the patient's abdomen, the instruments may be instructed to perform surgical or medical tasks such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments can include a scope such as a laparoscope. FIG. 9 shows an embodiment of a robotic-enabled table-based system configured for laparoscopy procedures. As shown in FIG. 9, carriage 43 of system 36 rotates and is adjusted vertically so that a pair of robotic arms 39 can be positioned on either side of table 38 using arm mount 45 such that instrument 59 can reach the patient's abdomen through minimal incisions on both sides of the patient.

[0047] To accommodate laparoscopic procedures, the robot-compatible table system may also tilt the platform to a desired angle. FIG. 10 shows an embodiment of a robot-compatible medical system having pitch or tilt adjustment. As shown in FIG. 10, the system 36 can position one part of the table at a distance from the floor greater than the other part of the table, in adaptation to the tilt of the table 38. Additionally, the arm mount 45 may be rotated to conform to the tilt so that the arm 39 maintains the same planar relationship with the table 38. To accommodate steep angles, the column 37 may also include a nested portion 60 that allows the column 37 to extend vertically to prevent the table 38 from contacting the floor or colliding with the base 46.

[0048] FIG. 11 provides a detailed view of the interface between the table 38 and the column 37. The pitch rotation mechanism 61 may be configured to change the pitch angle of the table 38 relative to the column 37 with multiple degrees of freedom. The pitch rotation mechanism 61 may be enabled by the positioning of the orthogonal axes 1, 2 at the column-table interface, with each axis being actuated by a separate motor 3, 4 in response to an electrical pitch angle command. Rotation along one screw 5 allows for tilt adjustment about one axis 1, and rotation along the other screw 6 allows for tilt adjustment along the other axis 2. In some embodiments, ball joints may be used to change the pitch angle of the table 38 relative to the column 37 with multiple degrees of freedom.

[0049] For example, pitch adjustment is particularly useful when attempting to position the table in the Trendelenburg position, i.e., when attempting to position the patient's lower abdomen at a higher position from the floor than the patient's upper abdomen for lower abdominal surgery. The Trendelenburg position slides the patient's internal organs towards the patient's upper abdomen by gravity, emptying the abdominal cavity for minimally invasive tools to perform lower abdominal surgeries or medical procedures such as laparoscopic prostatectomy.

[0050] Figures 12 and 13 show an isometric view and an end view of another embodiment of a table-based surgical robot system 100. The surgical robot system 100 includes one or more adjustable arm supports 105 (see, e.g., FIG. 14) configured to support one or more robotic arms relative to a table 101. In the illustrated embodiment, a single adjustable arm support 105 is shown, although additional arm supports can be provided on the opposite side of the table 101. The adjustable arm support 105 is configured to move relative to the table 101 to adjust and / or change the position of the adjustable arm support 105 and / or any robotic arm attached thereto relative to the table 101. For example, the adjustable arm support 105 can be adjusted relative to the table 101 with one or more degrees of freedom. The adjustable arm support 105 provides the system 100 with a high versatility that includes the ability to easily accommodate one or more adjustable arm supports 105 and any robotic arms attached thereto under the table 101. The adjustable arm support 105 can be raised from a stowed position to a position below the upper surface of the table 101. In other embodiments, the adjustable arm support 105 can be raised from a stowed position to a position above the upper surface of the table 101.

[0051] The adjustable arm support 105 can provide several degrees of freedom, including lift, lateral translation, tilt, etc. In the illustrated embodiments of FIGS. 12 and 13, the arm support 105 is configured with four degrees of freedom, which are indicated by arrows in FIG. 12. The first degree of freedom enables adjustment of the adjustable arm support 105 in the z-direction ("Z-lift"). For example, the adjustable arm support 105 can include a carriage 109 configured to move up and down along or relative to a column 102 that supports the table 101. The second degree of freedom enables the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 can include a swivel joint, which can enable alignment of the adjustable arm support 105 with the Trendelenburg-positioned bed. The third degree of freedom can enable the adjustable arm support 105 to "pivot upward", which can be used to adjust the distance between the side of the table 101 and the adjustable arm support 105. The fourth degree of freedom enables the adjustable arm support 105 to translate along the longitudinal length of the table.

[0052] The surgical robot system 100 of FIGS. 12 and 13 can include a table supported by a column 102 mounted to a base 103. The base 103 and column 102 support the table 101 relative to a support surface. The floor axis 131 and support axis 133 are shown in FIG. 13.

[0053] The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the table 101 or the base 103. The adjustable arm support 105 can include a carriage 109, a bar or rail connector 111, and a bar or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to each other.

[0054] The carriage 109 may be attached to the column 102 by a first joint 113, thereby enabling the carriage 109 to move relative to the column 102 (e.g., moving up and down the first or vertical axis 123). The first joint 113 can provide a first degree of freedom ("Z lift") to the adjustable arm support 105. The adjustable arm support 105 can include a second joint 115 that provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 can include a third joint 117 that can provide a third degree of freedom ("upward pivot") to the adjustable arm support 105. An additional joint 119 (shown in FIG. 13) can be provided to mechanically constrain the third joint 117 to maintain the orientation of the rail 107 when rotating the rail connector 111 about the third axis 127. The adjustable arm support 105 can include a fourth joint 121 that can provide a fourth degree of freedom (translation) to the adjustable arm support 105 along a fourth axis 129.

[0055] FIG. 14 shows an end view of a surgical robot system 140A having two adjustable arm supports 105A, 105B mounted on both sides of the table 101. The first robot arm 142A is attached to a bar or rail 107A of the first adjustable arm support 105B. The first robot arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robot arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, the second robot arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robot arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to be attached to one or more robotic medical instruments or tools.

[0056] In some embodiments, one or more of the robotic arms 142A, 142B include an arm having seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B include an insertion axis (one degree of freedom including insertion), a wrist (three degrees of freedom including wrist pitch, yaw, and roll), an elbow (one degree of freedom including elbow pitch), a shoulder (two degrees of freedom including shoulder pitch and yaw), and a base 144A, 144B (one degree of freedom including translation), and can include eight degrees of freedom. In some embodiments, the insertion degree of freedom can be provided by the robotic arms 142A, 142B, but in other embodiments, the instrument itself provides the insertion via an instrument base insertion architecture.

[0057] C. Instrument Driver and Interface The end effector of the robotic arm of the system includes (i) an instrument driver (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") that incorporates electromechanical means for actuating a medical instrument, and (ii) a removable or detachable medical instrument that may be devoid of any electromechanical components such as motors. This dichotomy can be caused by the need to sterilize the medical instrument used in a medical procedure and the inability to properly sterilize expensive capital equipment due to the complexity of the mechanical assembly of the medical instrument and the high sensitivity of electronic devices. Thus, the medical instrument can be designed to be removed, detached, and replaced from the instrument driver (and thus its system) for individual sterilization or disposal by a physician or the physician's staff. In contrast, the instrument driver need not be replaced or sterilized and can be draped for protection.

[0058] FIG. 15 shows an exemplary instrument driver. The instrument driver 62 positioned at the distal end of the robotic arm includes one or more drive units 63 arranged with parallel axes to provide controlled torque to a medical instrument via a drive shaft 64. Each drive unit 63 includes an individual drive shaft 64 for interacting with the instrument, a gear head 65 for converting the rotation of the motor shaft into a desired torque, a motor 66 for generating the drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to the control circuit, and a control circuit 68 for receiving control signals and operating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument driver 62 can provide a plurality (four as shown in FIG. 15) of independent drive outputs to the medical instrument. During operation, the control circuit 68 receives control signals, transmits motor signals to the motors 66, compares the motor speed obtained as a result of measurements by the encoders 67 with a desired speed, and modulates the motor signals to generate the desired torque.

[0059] For procedures that require a sterile environment, the robotic system may incorporate a drive interface, such as a sterile adapter connected to a sterile drape, positioned between the instrument driver and the medical instrument. The main purpose of the sterile adapter is to transmit angular motion from the drive shaft of the instrument driver to the drive input of the instrument while maintaining physical separation, and thus sterility, between the drive shaft and the drive input. Thus, an exemplary sterile adapter can be composed of a series of rotational input and output portions intended to mate with the drive shaft of the instrument driver and a drive input for the instrument. The sterile drape connected to the sterile adapter is composed of a thin flexible material such as transparent or translucent plastic and is designed to cover capital equipment such as the instrument driver, robotic arm, and cart (in a cart-based system) or table (in a table-based system). The use of the drape allows the capital equipment to be positioned close to the patient while remaining in an area that does not require sterilization (i.e., the non-sterile field). On the opposite side of the sterile drape, the medical instrument may interface with the patient in an area that requires sterilization (i.e., the sterile field).

[0060] D. Medical Instrument FIG. 16 shows an exemplary medical instrument with a pair of instrument drivers. Similar to other instruments designed for use with a robotic system, the medical instrument 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as an "instrument handle" by virtue of its design intended for manual interaction by a physician, is generally designed to mate with a drive output portion 74 that extends through a drive interface on an instrument driver 75 at the distal end of a robotic arm 76. The instrument base 72 may include a rotatable drive input portion 73, such as a receptacle, pulley, or spool, that is designed to mate with the drive output portion 74. When physically connected, latched, and / or coupled, the mated drive input portion 73 of the instrument base 72 can share a rotational axis with the drive output portion 74 in the instrument driver 75 and enable the transmission of torque from the drive output portion 74 to the drive input portion 73. In some embodiments, the drive output portion 74 may include splines designed to mate with a receptacle on the drive input portion 73.

[0061] The elongated shaft 71 is designed to be delivered through either an anatomical opening or lumen, such as in an endoscope, or a minimally invasive incision, such as in laparoscopy. The elongated shaft 71 may be either flexible (e.g., having characteristics similar to an endoscope) or rigid (e.g., having characteristics similar to a laparoscope), or may include a customized combination of both a flexible portion and a rigid portion. When designed for laparoscopy, the distal end of the rigid elongated shaft may be connected to a surgical tool or medical instrument, such as a gripper or forceps, that can be actuated based on the force from a tendon when the end effector formed from a joined list formed from a clevis having at least one degree of freedom and the drive input portion rotate in response to torque received from the drive output portion 74 of the instrument driver 75. When designed for endoscopy, the distal end of the flexible elongated shaft may include a steerable or controllable bend that can be articulated and bent based on torque received from the drive output portion 74 of the instrument driver 75.

[0062] The torque from the instrument driver 75 is transmitted downstream of the elongate shaft 71 using tendons along the shaft 71. These individual tendons, such as pull wires, may be individually secured to individual drive input portions 73 within the instrument handle 72. From the handle 72, the tendons are guided down one or more pull lumens along the elongate shaft 71 and secured to the distal portion of the elongate shaft 71, or to a list of the distal portions of the elongate shaft. During a surgical procedure, such as a laparoscopic procedure, an endoscopic procedure, or a hybrid procedure, these tendons may be coupled to a distally mounted end effector, such as a list, a grasping tool, or forceps. Under such a configuration, the torque exerted on the drive input portion 73 transmits tension to the tendons, thereby operating the end effector in some manner. In some embodiments, during a surgical procedure, the tendons can be rotated about an axis of a joint, thereby moving the end effector in one direction or another. Alternatively, the tendons may be connected to one or more jaws of a grasping tool at the distal end of the elongate shaft 71, and the grasping tool is closed by the tension from the tendons.

[0063] In an endoscopic examination, the tendon may be coupled to a flexure or articulation section positioned along (e.g., at the distal end) an elongate shaft 71 via an adhesive, a control ring, or other mechanical fixation. When fixedly attached to the distal end of the flexure section, the torque exerted on the drive input section 73 is transmitted downstream of the tendon to flex or articulate a softer flexure section (which may be referred to as an articulable section or region). Along the non-flexure portion, it may be advantageous to spiral or coil individual pull lumens that direct individual tendons along (or inside) the wall of the endoscopic shaft to balance the radial forces resulting from the tension in the pull wires. The angle of the spiral and / or spacing therebetween may be varied or designed for a particular purpose, where a narrower spiral exhibits less shaft compression under load forces while a lesser amount of spiral results in greater shaft compression under load forces, but also exhibits flexion limitation. At the other end of the spectrum, the pull lumens may be oriented parallel to the longitudinal axis of the elongate shaft 71 to enable controlled articulation at a desired flexure or articulable section.

[0064] In an endoscopic examination, the elongate shaft 71 houses several components that assist in robotic procedures. The shaft may comprise a working channel for positioning, irrigating, and / or aspirating a surgical tool (or medical instrument) with respect to the surgical site at the distal end of the shaft 71. The shaft 71 may also house wires and / or optical fibers to conduct signals between an optical assembly at a distal tip that may include an optical camera. The shaft 71 may also house an optical fiber to convey light from a proximally located light source, such as a light emitting diode, to the distal end of the shaft.

[0065] At the distal end of the instrument 70, the distal tip may include an opening of a working channel for delivering tools to the surgical site for diagnosis and / or treatment, irrigation, and aspiration. The distal tip may also include a port for a camera, such as a fiber optic scope or a digital camera, for capturing images of the internal anatomical space. In this regard, the distal tip may also include a port for a light source for illuminating the anatomical space when using the camera.

[0066] In the embodiment of FIG. 16, the drive shaft axis, and thus the drive input axis, is orthogonal to the axis of the elongate shaft. However, this arrangement complicates the rolling ability of the elongate shaft 71. As a result of rolling the elongate shaft 71 along its axis while keeping the drive input portion 73 stationary, when the tendon extends from the drive input portion 73 and enters the pull lumen within the elongate shaft 71, it results in an undesirable entanglement of the tendon. Such resulting tendon entanglement may interfere with any control algorithm intended to predict the movement of the flexible elongate shaft during an endoscopic procedure.

[0067] FIG. 17 shows an alternative design of an instrument driver and an instrument in which the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument. As shown, the circular instrument driver 80 includes four drive units having drive output portions 81 that are aligned in parallel at the end of the robotic arm 82. The drive units and their respective drive output portions 81 are housed within a rotary assembly 83 of the instrument driver 80 that is driven by one of the drive units within the assembly 83. In response to the torque provided by the rotary drive unit, the rotary assembly 83 rotates along a circular bearing that connects the rotary assembly 83 to the non-rotating portion 84 of the instrument driver. Power and control signals may be communicated from the non-rotating portion 84 of the instrument driver 80 to the rotary assembly 83 through electrical contacts and may be maintained through rotation by a brushed slip ring connection (not shown). In other embodiments, the rotary assembly 83 may be integrated with the non-rotatable portion 84 and thus may respond to a separate drive unit that is not parallel to the other drive units. The rotary mechanism 83 enables the instrument driver 80 to rotate the drive units and their respective drive output portions 81 as a single unit about the instrument driver axis 85.

[0068] Similar to the previously disclosed embodiments, the instrument 86 may include an elongated shaft portion 88 and an instrument base 87 (shown with a transparent outer skin for illustrative purposes) that includes a plurality of drive input portions 89 (such as receptacles, pulleys, and spools) configured to receive the drive output portions 81 within the instrument driver 80. Different from the previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87 and the axis is not orthogonal as in the design of FIG. 16 but is substantially parallel to the axis of the drive input portions 89.

[0069] When coupled to the rotation assembly 83 of the instrument driver 80, the medical instrument 86, which includes the instrument base 87 and the instrument shaft 88, rotates together with the rotation assembly 83 about the instrument driver shaft 85. Since the instrument shaft 88 is positioned at the center of the instrument base 87, the instrument shaft 88 is coaxial with the instrument driver shaft 85 when attached. Thus, due to the rotation of the rotation assembly 83, the instrument shaft 88 rotates about its own longitudinal axis. Further, when the instrument base 87 rotates with the instrument shaft 88, any tendon connected to the drive input portion 89 within the instrument base 87 will not become entangled during rotation. Thus, the parallelism of the axes of the drive output portion 81, the drive input portion 89, and the instrument shaft 88 allows shaft rotation without entangling any control tendons.

[0070] FIG. 18 shows an instrument having an instrument base insertion architecture according to some embodiments. The instrument 150 can be coupled to any of the instrument drivers discussed above. The instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a handle 170 coupled to the shaft 152. The elongated shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 includes one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 therethrough. Thus, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 can also extend through the elongated shaft 152. Actuation of the end effector 162 is effected by operation of one or more of the cables 180 (e.g., via an instrument driver).

[0071] The instrument handle 170, which may also be referred to as the instrument base, can generally include an attachment interface 172 having one or more mechanical input portions 174, such as receptacles, pulleys, or spools, designed to reciprocally mate with one or more torque couplers on the attachment surface of the instrument driver.

[0072] In some embodiments, the instrument 150 includes a series of pulleys or cables that allow the elongate shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself includes an instrument-based insertion architecture that adapts to the insertion of the instrument, thereby minimizing the reliance on a robotic arm to provide insertion of the instrument 150. In other embodiments, the robotic arm can be highly involved in the insertion of the instrument.

[0073] E. Controller Any of the robotic systems described herein can include an input device or controller for operating an instrument attached to a robotic arm. In some embodiments, the controller can be coupled (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) to the instrument such that operation of the controller causes a corresponding operation of the instrument, e.g., via master-slave control.

[0074] FIG. 19 is a perspective view of an embodiment of a controller 182. In this embodiment, the controller 182 includes a hybrid controller that can have both impedance control and admittance control. In other embodiments, the controller 182 can utilize only impedance or passive control. In other embodiments, the controller 182 can utilize only admittance control. By being a hybrid controller, the controller 182 can advantageously have a lower perceived inertia during use.

[0075] In the illustrated embodiment, the controller 182 is configured to enable the operation of two medical instruments and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.

[0076] As shown in FIG. 19, each positioning platform 188 includes a SCARA (selective compliance assembly robot) arm 198 coupled to a column 194 by a linear joint 196. The linear joint 196 translates along the column 194 (e.g., along a rail 197) such that each of the handles 184 is translated in the z - direction and is configured to provide a first degree of freedom. The SCARA arm 198 is configured to enable movement of the handle 184 in the x - y plane and to provide two additional degrees of freedom.

[0077] In some embodiments, one or more load cells are positioned within the controller. For example, in some embodiments, a load cell (not shown) is positioned within each of the gimbals 186. By providing the load cells, a portion of the controller 182 can operate under admittance control, thereby advantageously reducing the perceived inertia of the controller during use. In some embodiments, the positioning platform 188 is configured for admittance control, while the gimbal 186 is configured for impedance control. In other embodiments, the gimbal 186 is configured for admittance control and the positioning platform 188 is configured for impedance control. Thus, in some embodiments, the translational or positional degrees of freedom of the positioning platform 188 can depend on admittance control, while the rotational degrees of freedom of the gimbal 186 depend on impedance control.

[0078] F. Navigation and Control Conventional endoscopy may involve the use of fluoroscopy (such as that which can be delivered through a C-arm) and other forms of radiation-based imaging modalities to provide intra-cavity guidance to the operator, a physician. In contrast, the robotic systems contemplated by the present disclosure can provide non-radiation-based navigation and localization means to reduce the physician's exposure to radiation and to reduce the amount of equipment in the operating room. As used herein, the term "localization" may refer to determining and / or monitoring the position of an object within a reference coordinate system. Techniques such as pre-operative mapping, computer vision, real-time EM tracking, and robotic command data may be used individually or in combination to achieve a radiation-free surgical environment. In other cases where radiation-based imaging modalities are still used, pre-operative mapping, computer vision, real-time EM tracking, and robotic command data may be used individually or in combination to improve information obtained only by the radiation-based imaging modality.

[0079] FIG. 20 is a block diagram showing a localization system 90 for estimating the position of one or more elements of a robotic system, such as the position of an instrument, according to an exemplary embodiment. The localization system 90 may be a set of one or more computer devices configured to execute one or more instructions. The computer device may be embodied by a processor (or processors) and computer-readable memory within one or more of the components discussed above. By way of example, and not limitation, the computer device may be within the tower 30 shown in FIG. 1, within the cart shown in FIGS. 1-4, within the bed shown in FIGS. 5-14, etc.

[0080] As shown in FIG. 20, the location identification system 90 may include a location identification module 95 that processes input data 91-94 to generate location data 96 for the distal tip of a medical instrument. The location data 96 may be data or logic representing the location and / or orientation of the distal end of the instrument relative to a reference system. The reference system can be a reference system for the patient's anatomical structure, or a known object such as an EM field generator (see the following discussion regarding the EM field generator).

[0081] Here, the various input data 91-94 will be described in more detail. Preoperative mapping can be achieved using the collection of low-dose CT scans. The preoperative CT scans are reconstructed, for example, into a three-dimensional image that is visualized as a "slice" of a cutaway view of the patient's internal anatomical structure. When analyzed as a whole, an image-based model of the anatomical cavities, spaces, and structures of the patient's anatomical structure, such as the patient's lung network, can be generated. Techniques such as center-line geometry can be determined and approximated from the CT images to create a three-dimensional volume of the patient's anatomical structure, referred to as model data 91 (also referred to as "preoperative model data" if generated using only preoperative CT scans). The use of center-line geometry is discussed in U.S. Patent Application No. 14 / 523,760, the entire content of which is incorporated herein by reference. A network phase model may also be derived from the CT images and is particularly suitable for bronchoscopy.

[0082] In some embodiments, the instrument may be equipped with a camera to provide visual data 92. The localization module 95 may process the visual data to enable one or more vision-based position tracking. For example, the preoperative model data may be used with the visual data 92 to enable computer vision-based tracking of a medical instrument (e.g., an endoscope, or an instrument advancing through the working channel of an endoscope). For example, using the preoperative model data 91, the robotic system can generate a library of predicted endoscope images from the model based on the predicted movement path of the endoscope, with each image linked to a position within the model. During the surgery, this library can be referenced by the robotic system to compare the real-time images captured by a camera (e.g., a camera at the distal end of the endoscope) with those in the image library to assist in localization.

[0083] Other computer vision-based tracking techniques use feature tracking to determine the movement of the camera and thus the endoscope. Some features of the localization module 95 may identify circular geometric shapes within the preoperative model data 91 corresponding to anatomical lumens and track changes in those geometric shapes to determine which anatomical lumen has been selected and the relative rotational and / or translational movement of the camera. The use of phase maps may further improve vision-based algorithms or techniques.

[0084] Optical flow, another computer vision-based technique, can analyze the displacement and translation of image pixels within a video sequence in the visual data 92 to infer the movement of the camera. Examples of optical flow techniques can include motion detection, object segmentation calculation, luminance, motion-compensated coding, stereoscopic parallax measurement, etc. By comparing multiple frames over multiple iterations, the movement and position of the camera (and thus the endoscope) can be determined.

[0085] The position - specific module 95 can generate the real - time position of the endoscope within a global coordinate system that can be aligned with the patient's anatomical structure represented by the preoperative model using real - time EM tracking. In EM tracking, an EM sensor (or tracker) that consists of one or more sensor coils embedded within a medical instrument (e.g., an endoscopic instrument) at one or more positions and orientations measures the variations in the EM field generated by one or more static EM field generators positioned at known locations. The position information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed in proximity to the patient to generate a low - intensity magnetic field that can be detected by the embedded sensors. The magnetic field induces a small current within the sensor coils of the EM sensor, and this current can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "registered" intra - operatively to the patient's anatomical structure (e.g., the preoperative model) to determine the geometric transformation that aligns a single position within the coordinate system with a position within the preoperative model of the patient's anatomical structure. Once registered, the EM tracker embedded at one or more positions of the medical instrument (e.g., the distal tip of the endoscope) can provide a real - time display of the progress of the medical instrument through the patient's anatomical structure.

[0086] The robot commands and kinematic data 94 may also be used by the position - specific module 95 to provide position - specific data 96 for the robotic system. The device pitch and yaw resulting from the joint movement commands can be determined during preoperative calibration. During the operation, these calibration measurements can be used in combination with the known insertion - depth information to estimate the position of the instrument. Alternatively, these calculations can be analyzed in combination with EM, vision, and / or phase modeling to estimate the position of the medical instrument within the network.

[0087] As shown in FIG. 20, some other input data can be used by the localization module 95. For example, although not shown in FIG. 20, an instrument utilizing shape-sensing fibers can provide shape data that the localization module 95 can use to determine the position and shape of the instrument.

[0088] The localization module 95 can use the input data 91-94 in combination. In some cases, such a combination may use a probabilistic approach where the localization module 95 assigns a confidence weight to the positions determined from each of the input data 91-94. Thus, if the EM data may not be reliable (such as when there is EM interference), the reliability of the position determined by the EM data 93 can be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or the robot command and kinematic data 94.

[0089] As discussed above, the robot systems discussed herein can be designed to incorporate one or a combination of two or more of the above-described techniques. A computer-based control system for a robot system based on a tower, bed, and / or cart may store computer program instructions, for example, in a non-transitory computer-readable storage medium such as a permanent magnetic storage drive, a solid-state drive, etc. The computer program instructions, when executed, cause the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and localization data such as the position of the instrument in a global coordinate system, an anatomical map, etc.

[0090] 2. Introduction to Systems and Methods for Collision Avoidance This application discloses a medical robotic system that utilizes information about objects within the vicinity of the medical robotic system to avoid or reduce the risk of future collisions. As described herein, the robotic medical system can include a plurality of robotic arms configured to control the movement of a medical tool during a given medical procedure. To achieve a desired posture of the medical tool, the robotic arms can be positioned in a posture that may bring them into contact with external objects such as, for example, a patient, bedside staff, or inanimate objects (e.g., accessories on the bed). By detecting contact between the robotic arm and the external object sufficiently early (e.g., immediately upon contact or at least before a force greater than a threshold value is generated by the contact), the safety of robotic surgery can be improved.

[0091] Information about objects within the vicinity can include contact information obtained using a contact sensor such as a force sensor and non-contact information obtained using a non-contact sensor. Based on the information about objects within the vicinity of the medical robotic system, the configuration of the kinematic chain (e.g., robotic arms and adjustable arm supports) can be adjusted, for example, to increase the distance from objects within the vicinity and reduce the likelihood of future collisions.

[0092] A. Robot Arm and Sensor Architecture for Detecting Contact or Obtaining Control Information The medical robotic system includes a plurality of sensors for collecting information (e.g., position information) about objects within the vicinity of the medical robotic system. Some of the sensors are located on or adjacent to the robotic arms of the medical robotic system.

[0093] FIG. 21 shows an exemplary robotic arm 205 according to some embodiments. The robotic arm 205 includes a plurality of links 132 connected by one or more joints 131 (e.g., 131-1 to 131-3). The proximal end of the robotic arm 205 may be connected to a base 136, and the distal end of the robotic arm 205 may be connected to an advanced device manipulator (ADM) 134 (also referred to as an instrument driver or end effector of the robotic arm). The ADM 134 may be configured to control the positioning and operation of a medical tool 135 (also referred to as a medical instrument). Thus, the link 132 may be removably coupled to the medical tool 135. The joint 131 provides the robotic arm 205 with a plurality of degrees of freedom (DoF) that facilitate the control of the medical tool 135 via the ADM 134.

[0094] In some embodiments, the robotic arm 205 includes one or more base sensors for detecting contact between any part of the robotic arm 205 and an object 137 other than the robotic arm 205 (e.g., another robotic arm, other medical device, patient, healthcare provider, etc.). In some embodiments, such sensors are located within or adjacent to the joint 131. For example, one or more force sensors may be located at joint 131-3. One or more force sensors located at joint 131-3 can detect the interaction force (e.g., the magnitude and / or direction of the force and / or moment) from the proximal end of the robotic arm 205. Additionally or alternatively, one or more force sensors may be located at or near joint 131-1 near the distal end of the robotic arm 205. One or more force sensors located at or near joint 131-1 may include a six-axis load cell capable of detecting both forces and moments (e.g., torques) with respect to six axes (e.g., forces along the x-axis, y-axis, and z-axis, and torques with respect to the x-axis, y-axis, and z-axis). Based on the forces detected by one or more sensors, one or more processors can determine the location of the contact and one or more parts of the robotic arm 205 involved in the contact (one or more links or joints, ADM134, or medical tool 135).

[0095] Additionally or alternatively, the robotic arm 205 includes one or more contact sensors. FIGS. 22A and 22B illustrate an exemplary robotic link that may form a portion of a robotic arm having one or more contact sensors, according to some embodiments.

[0096] FIG. 22A shows three views of the distal portion of the robotic arm 205, and FIG. 22B shows three views of a portion of the robotic arm 205 proximal to the distal portion of FIG. 22A. Referring to FIGS. 22A and 22B, the robotic arm 205 can include a device manipulator 203, a plurality of links 207, 209, 211, and 233, and a plurality of joints 213, 215, 217, and 219 that connect the device manipulator 203 to the links 207, 209, 211, and 233. In each of the views shown in FIG. 22A, an area 221 of the robotic arm 205 that is relatively likely to collide with a patient is highlighted.

[0097] In some embodiments, an arm component (e.g., one of the robotic links 205-211 or joints 213-219 of FIGS. 22A-22B) is coupled with one or more sensors for sensing contact with an external object such as a patient, bedside staff, or other object.

[0098] In some embodiments, the shell can be suspended around a given link, and relative movement between the shell and internal components / members of the link can be detected using one or more sensors to detect contact with an external object. FIG. 23 shows an exemplary link 300 that includes a rigid shell 309 and is configured to detect contact with an external object, according to some embodiments. In particular, the link 300 includes a structural link 301, a structural cover 303, a first joint 305, a second joint 307, a shell 309, a pair of reaction paddles 311, and a shell cover 313. For example, the internal components of the link 300 may comprise the structural link 301 and the structural cover 303.

[0099] The structural cover 303 can be attached to the structural link 301 to house the components of the structural link 301 and form an internal structural connection between the first joint 305 and the second link. The shell 309, together with the shell cover 313, is suspended from the structural link 301 and surrounds the structural link 301. As used herein, the shell 309 and the shell cover 313 may collectively be simply referred to as the "shell" 309, while the structural link 301 and the structural cover 303 may collectively be simply referred to as the structural link 301 or the operable link, unless the context clearly indicates otherwise.

[0100] The shell 309 may be connected to the structural link 301 via a force sensing connection. Since the shell 309 surrounds the structural link 301, when the link 300 contacts an external object, the object will contact the shell 309. Thus, the force sensing connection can detect contact between the shell 309 and the external object by measuring a change in the force between the shell 309 and the structural link 301 caused by the link 300 contacting the external object. The shell 309 may also be sufficiently rigid such that when it contacts an external object, the shell 309 engages the force sensing connection. Advantageously, by using a rigid shell 309, the force and relative movement between the shell 309 and the structural link 301 can be sensed in all three directions.

[0101] The force sensing connection can be implemented in a variety of different ways according to some embodiments. For example, the force sensing connection can include one or more of a conventional load cell, a force sensing resistor, and / or any component capable of sensing force (or displacement when combined with a spring).

[0102] FIG. 24 shows an example of a force sensing connection that can be used in the link 300 of FIG. 23 according to some embodiments. In particular, the force sensing connection can include a plurality of shell sensors 321 (e.g., 14 shell sensors in the illustrated embodiment) disposed between the structural link 301 and the shell 309.

[0103] In some embodiments, sensor 321 is distributed throughout link 301 between shell 309 and structural link 300. For example, shell 309 can be suspended onto structural link 301 via sensor 321. Depending on the implementation, link 300 can include one, two, three, four, or more sensors 321 distributed along the robotic arm link. FIGS. 25A and 25B show two views of link 401 with fourteen sensors 321 included in link 401, according to some embodiments. In particular, FIGS. 25A and 25B show a side view and a front view, respectively, of one end of link 401 that includes seven sensors 321. Link 401 may be substantially symmetric at both ends of link 401, thereby including a total of fourteen sensors 321 within link 401.

[0104] FIGS. 25C and 25D show two views of link 411 with twelve sensors 321 included in link 411, according to some embodiments. In some implementations, the robotic arm may include both link 401 and link 411, and link 401 is positioned proximal to link 411. In particular, FIGS. 25C and 25D show a side view and a front view, respectively, of link 411 that includes twelve sensors 321. Link 411 may be substantially symmetric at both ends of link 411, thereby including a total of twenty-four sensors 321 within link 401. In some implementations, the plurality of sensors 321 can be configured to support the rigid shell without being fixed to the rigid shell. In some implementations, link 401 or 411 can further include one or more supports configured to support the rigid shell relative to the structural link. For example, the one or more supports can include springs, flexures, and / or suspensions.

[0105] Figures 25A - 25D show links 401 and 411 that include a plurality of sensors 321. In some embodiments, however, a link can include a single sensor configured to sense forces and / or displacements between the structural link 301 and the shell 309 in multiple directions. Using the signals received from the sensors 321, the robotic system can be configured to detect the direction of contact between the shell 309 and an external object. The robotic system can also measure the magnitude of the force resulting from the contact between the shell 309 and the external object based on the signals from the sensors 321. Based on the arrangement of the plurality of sensors 321 within the links 401 and 411, the robotic system can also be configured to detect the torque applied to the links. For example, when torque is applied to the shell 309, a particular sensor 321 on one side of the links 401 and 411 can be compressed. Based on the position and force sensed by the compressed sensor 321, the robotic system can determine the torque applied to the links 401 and 411.

[0106] Referring back to FIG. 21, the robotic arm 205 can be positioned in various postures while one or more sensors 321 detect contact or collision between any part of the robotic arm 205 and another object. In some situations, there are additional constraints on the movement of the robotic arm 205. For example, during a medical procedure, it may be desirable to keep the remote center of movement (RCM) of the ADM134 of the robotic arm 205 and / or the tool 135 coupled thereto in a static posture / position. The RCM may refer to a point in space where the movement of a cannula or other access port through which the medical tool 135 is inserted is restricted. In some implementations, the medical tool 135 includes an end effector that is inserted through an incision or natural orifice of a patient while maintaining the RCM.

[0107] In some situations, the robotic system can be configured to move one or more links 132 of the robotic arm 205 within the "null space" while the ADM134 and / or RCM of the robotic arm 205 are maintained in their respective postures / positions, to avoid collisions with nearby objects (e.g., other robotic arms). The null space can be considered as the space in which the robotic arm 205 can move without causing movement of the ADM134 and / or RCM, thereby maintaining the position and / or orientation of the medical tool 135. In some implementations, the robotic arm 205 can have multiple positions and / or configurations available for each posture of the ADM134.

[0108] To move the ADM134 of the robotic arm 205 to a desired posture within the space, in a particular implementation, the robotic arm 205 can have at least 6 degrees of freedom (DoF), namely 3 DoF for translation (e.g., X position, Y position, Z position) and 3 DoF for rotation (e.g., yaw, pitch, and roll). In some implementations, each joint 131 can provide a single DoF to the robotic arm 205, and thus the robotic arm 205 can have at least 6 joints to achieve the degrees of freedom of movement for positioning the ADM134 in any posture within the space. To further maintain the ADM134 and / or the remote center or movement of the robotic arm 205 in the desired posture, the robotic arm 205 may further have at least one additional "redundant joint". Thus, in a particular implementation, the system can include a robotic arm 205 having at least 7 joints 131, providing at least 7 DoF to the robotic arm 205. However, depending on the implementation, the robotic arm 205 may have more or fewer DoF.

[0109] A robotic arm 205 having at least one redundant DoF (also referred to as a "kinematically redundant" robotic arm) may refer to a robotic arm 205 having at least one more DoF than the minimum number of DoF required to perform a given task. For example, the robotic arm 205 can have at least seven DoF, and one of the joints 131 of the robotic arm 205 can be considered a redundant joint for completing a task that requires six DoF. One or more redundant joints can enable the robotic arm 205 to move within the null space in order to maintain both the pose of the ADM134 and the position of the RCM and to avoid collisions with other arms or objects.

[0110] A robotic system (e.g., system 36 of FIG. 6 or system 140A of FIG. 14) can be configured to perform collision avoidance, e.g., to avoid collisions between adjacent robotic arms, by utilizing the movement of one or more redundant joints within the null space (e.g., either individual movement or coordinated movement). For example, when a robotic arm collides with or approaches another robotic arm (e.g., within a defined distance), one or more processors of the system can be configured to detect the collision or impending collision (e.g., via kinematics). Thus, the system can control one or both of the robotic arms to adjust their respective joints within the null space to avoid the collision or impending collision. In some implementations for a pair of robotic arms, the base and the end effector of one of the robotic arms can maintain their poses while the link or joint between them moves within the null space to avoid collisions with adjacent robotic arms.

[0111] FIG. 26 shows an example of a robotic system 200 including an adjustable arm support 210 according to some embodiments. In FIG. 26, the robotic system 200 includes a plurality of robotic arms 205, one or more adjustable arm supports 210, one or more setup joints 215, and a bed column 220. Each of the robotic arms 205 may be supported by one of the adjustable arm supports 210, and the adjustable arm support 210 may be supported by the setup joint 215. As described above, each robotic arm 205 can have a plurality of DoFs. Similarly, the adjustable arm support 210 and the setup joint 215 may be movable in one or more DoFs.

[0112] FIG. 27 schematically shows how one or more DoFs can be shared among the robotic arm, the adjustable arm support, and the setup joint. FIG. 27 shows a system in which the setup joint 215 can be coupled to the bed support 223 at the proximal end and to the adjustable arm support 210 at the distal end. Further, the plurality of robotic arms 205 may be coupled to the adjustable arm support 210 at their respective proximal ends. In certain implementations, the adjustable arm support 210 and the setup joint 215 can both have four DoFs. Thus, the robotic arm 205 attached to the adjustable arm support 210 can share the four DoFs provided by the setup joint 215 and the adjustable arm support 210.

[0113] Thus, depending on the implementation, the robotic medical system can have many more robotically controlled degrees of freedom than just the degrees of freedom in the robotic arm to provide null space motion and collision avoidance. In each of these implementations, the end effector of one or more robotic arms (and any tools or instruments coupled thereto) and / or the remote center associated therewith (e.g., along the axis of the tool) can advantageously maintain a posture and / or position within the patient.

[0114] In some embodiments, the robotic system described herein utilizes shared DoFs between different link members (e.g., of multiple robotic arms and / or adjustable arm supports) to achieve null space motion for collision avoidance. In certain implementations, the system coordinates and / or synchronizes the movement of one or more DoFs associated with a first set of one or more electric links (e.g., in the form of one or more robotic arms such as robotic arm 205 illustrated in FIG. 26) with one or more DoFs associated with a second set of one or more electric links (e.g., in the form of support links supporting a robotic arm including one or more setup joint links and one or more arm support links such as setup joint 215 and adjustable arm support 210 illustrated in FIG. 26) to achieve null space motion for collision avoidance.

[0115] A first set of one or more electric links (e.g., in the form of one or more robotic arms) may be configured to perform a different function than a second set of one or more electric links (e.g., in the form of an adjustable arm support link or rail). In some implementations, the first set of one or more links is supported by the second set of one or more links.

[0116] Furthermore, in some implementations, the first set of one or more electric links has a different number of DoFs than the second set of one or more electric links. For example, as shown in the simplified implementation illustrated in FIG. 27, the first set of one or more links can form three robotic arms 205, each having seven or more DoFs. For example, each of the robotic arms 205 can have DoFs including, but not limited to, shoulder yaw, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, roll, and insertion. The second set of one or more electric links can form a setup joint 215 in combination with an adjustable arm support 210 having four or more DoFs. For example, the setup joint 215 and the adjustable arm support 210 may have DoFs including, but not limited to, vertical translation or "Z-lift", longitudinal translation along the bed, tilt, and upward swivel. The DoFs of the setup joint 215 and the adjustable arm support 210 are also shown in FIG. 24, as discussed above.

[0117] In some other implementations, the first set of one or more electric links can have the same number of DoFs as the second set of one or more electric links. Advantageously, by sharing DoFs between the first set of one or more links and the second set of one or more links, the number of DoFs for null space motion and collision avoidance can be extended.

[0118] Aspects of the present disclosure relate to robotic systems having one or more DoFs in addition to the DoFs of robotic arms capable of null space motion. These additional DoFs (e.g., from a setup joint combined with an adjustable arm support) can affect the motion of the robotic arms coupled to the adjustable arm support and can assist in collision avoidance. For example, DoFs from a second set of links including vertical translation, longitudinal translation, and tilt can be particularly useful for null space motion when combined with the DoFs of each of the robotic arms.

[0119] In the above implementation modes, at least one set of link members is associated with the robotic arm, so that the DoF shared between different sets of link members is utilized for null space motion. In these implementation modes, not only the RCM of the tool attached to the robotic arm, but also the ADM of the robotic arm can preferably maintain the posture / position.

[0120] B. Utilization of Force Information for Robotic Arm and / or Bar Optimization (For example, during a collision or contact between a robotic arm and an object such as a patient) The force information detected by one or more of the above sensors can be converted into general constraints for optimization of the robotic arm and / or an adjustable arm support (also known as a “bar”). In some cases, a medical procedure can start from a standard port placement, whereby one or more robotic arms are attached to the port positions. When a collision occurs, collision information will be collected via one or more of the force sensors (e.g., contact sensors including force sensors at one or more joints). Other potential sensors that can detect a collision include sensors for detecting ultrasonic waves or light. Such collision information includes the nature of the collision (e.g., arm-to-arm collision, arm-to-environment collision), the general location of the collision (e.g., whether the collision is on a link, on a joint, on a high-degree device manipulator (ADM), etc.), and the estimated direction of the collision (e.g., collision vector). This information is used to generate external constraints, e.g., a potential field / collision field that occurs at the location of the collision in the direction of the collision. This potential field can repel and “push” away the joints and links near the robotic arm and / or the adjustable arm support, thereby advantageously avoiding further collisions. The intensity of such “push” can be a function of the distance from nearby components to the location of the collision. In addition to optimizing one or more arms, these constraints can also optimize the adjustable arm support / bar posture with respect to the collision distance and the end effector workspace of the robotic arm. This enables the system to easily recover from a collision and continue a procedure with a lower likelihood of future collisions.

[0121] Figure 28 is a flow diagram showing a method for adjusting one or more kinematic chains (e.g., each kinematic chain includes an assembly of rigid bodies rotatably coupled to each other such as one or more robotic arms coupled to an associated adjustable arm support / bar) based on contact information according to some embodiments.

[0122] The workflow shown in FIG. 28 starts when a medical robot system is used for a medical procedure (operation 281), and the medical robot system has one or more kinematic chains. While the system is being used for a medical procedure, a collision with the kinematic chain (e.g., contact between a robot arm and a patient) is detected (operation 282) (e.g., using one or more sensors described with respect to FIGS. 21, 22A-22B, 24, and 25A-25D). The medical robot system stops the movement of the kinematic chain (operation 283) and collects contact information. In some cases, the medical robot system provides the contact information to a specific instruction set (e.g., a software application) or an electronic device for optimizing the configuration of one or more kinematic chains. Next, the medical robot system determines a new configuration of the kinematic chain (operation 284), for example, by using a specific instruction set or an electronic device, and positions the kinematic chain in the determined configuration (operation 285), thereby eliminating contact with the kinematic chain. Thereafter, the medical robot system resumes the medical procedure (operation 286). Since the kinematic chain is in an optimized configuration, the likelihood of the kinematic chain contacting an object is reduced. In some cases, the medical robot system continues the medical procedure (operation 281).

[0123] FIGS. 29A-29F show the configuration of the robot arm 205 during operation according to the flowchart of FIG. 28.

[0124] FIG. 29A shows the medical robot system 200 described with respect to FIG. 26, where a patient on the tabletop 225 is undergoing a medical procedure. In FIGS. 29A-29F, the medical instruments are not shown so as not to obscure other aspects of the operation of the medical robot system 200.

[0125] FIG. 29B shows that the robotic arm 205-2 moves downward and a portion of the robotic arm 205-2 contacts the patient. FIG. 29C shows that the medical robotic system 200 (or one or more of its processors) receives contact information (e.g., contact position, contact direction, contact force, etc.) and models the contact in a map (e.g., a three-dimensional map that models objects in the vicinity of the medical robotic system 200). For example, a contact or collision can be modeled as a constraint field or a potential field in the map. In FIG. 29C, the contact is modeled as a potential field 227-1. In some implementations, the potential field is directional (e.g., applicable to a portion of the kinematic chain located in a particular direction or a particular range of directions from the contact position) or non-directional (e.g., applicable to all portions of the kinematic chain regardless of the position of the kinematic chain relative to the contact position). In some implementations, the effect of the constraint or potentiality is based on the distance from the contact position to each portion of the kinematic chain. For example, a portion of the kinematic chain located at a first distance from the contact position can be moved further away from its original position and / or the contact position than another portion of the kinematic chain located at a second distance greater than the first distance from the contact position. In FIG. 29C, the distal end of the robotic arm 205-2 located near the contact position (e.g., the tip of the robotic arm 205-2 configured to hold a medical tool) can be maintained away from the contact position or moved minimally. Similarly, the proximal end of the robotic arm 205-2 (near the adjustable arm support 210) as well as the other robotic arms 205-1 and 205-3 to 205-6 can remain stationary, but the intermediate links and joints between the proximal and distal ends of the arm can move.

[0126] In some implementations, the size of the constraint (e.g., the size of the constrained area or volume) or the range of the potential field is determined based on one or more factors such as the force detected from the contact, the type of the contact object (e.g., a patient whose collision is detected on the tabletop 225 and a medical staff whose collision is detected outside the tabletop 225, etc., determined based on the contact position), and the probability of detection. For example, FIG. 29D shows a potential field having a wider range than the potential field shown in FIG. 29C, and the configuration of the plurality of robotic arms, i.e., robotic arms 205-1 to 205-3, is adjusted (e.g., the robotic arms 205-1 and 205-3, and a portion of the robotic arm 205-2 are moved away from the contact position or the potential field).

[0127] FIG. 29E shows that another collision (or contact) between the robotic arm 205-1 and the patient is detected during the downward movement of the distal end of the robotic arm 205-1. In FIG. 29E, the medical robotic system 200 receives information regarding the contact between the robotic arm 205-1 and the patient, models the contact as a potential field 227-2 in the map, and adjusts the configuration of the robotic arm 205-1 (or the configurations of two or more of the robotic arms 205-1 to 205-6 according to the range of the potential field). FIGS. 29E and 29F also show that the medical robotic system 200 maintains the potential field 227-1 in the map (as a result, the robotic arm 205-1 may not come near the potential field 227-1 during the adjustment of the configuration of the robotic arm 205-1). In some cases, one or more potential fields (or constraints) become invalid over time, and as a result, the medical robotic system 200 may not maintain the potential field 227-1 by the time a collision between the robotic arm 205-1 and the patient is detected.

[0128] FIG. 30 is a flow diagram showing a method 330 for adjusting the configuration of a kinematic chain based on contact information according to some embodiments. The method 330 is performed by an electronic device (e.g., one or more processors such as the processor 380 described with respect to FIG. 38) that communicates with a medical robotic system including a first kinematic chain and one or more sensors positioned to detect one or more parameters (e.g., force, torque, contact direction, contact position, etc.) of contact between the first kinematic chain (e.g., the robotic arms 205 and the medical robotic system 200 having one or more sensors described with respect to FIGS. 21, 23, 24, and 25A-25D).

[0129] In some embodiments, the one or more sensors include at least one of a force sensor positioned at the base of the first kinematic chain (e.g., joint 131-3 or base 136), a force sensor positioned adjacent to a joint (e.g., joint 131-1) between one or more links of the first kinematic chain and the end effector, or one or more contact sensors (e.g., sensor 321) on one or more links (e.g., on a shell sensor). In some embodiments, the force sensor positioned adjacent to a joint between one or more links and the robotic arm end effector includes a six-axis load cell.

[0130] In some embodiments, the first kinematic chain is kinematically redundant. For example, the first kinematic chain has more degrees of freedom than are necessary to complete a medical task (e.g., the first kinematic chain has seven, eight, or nine or more degrees of freedom). In some embodiments, the first robotic arm is kinematically redundant. In some embodiments, the combination of the first robotic arm and the adjustable arm support is kinematically redundant.

[0131] Method 330 includes receiving (331), e.g., from one or more sensors, one or more parameters of contact with a first kinematic chain detected by the one or more sensors.

[0132] In some embodiments, contact with the first kinematic chain includes contact between the first kinematic chain and an object that is not part of the medical robotic system (e.g., a patient, staff, or accessory).

[0133] In some embodiments, one or more parameters of the contact include one or more selected from the group consisting of contact force information (including force and / or torque), contact position information, and contact direction information (which can be determined from the movement of the first kinematic chain before and / or during contact with the object and / or the direction of the force) (332).

[0134] In some embodiments, one or more parameters of the contact include information as to whether the contact is with a moving object or a stationary object (which can be determined based on whether the contact position changes over time).

[0135] Method 330 also includes determining (333) a constraint associated with the first kinematic chain based on one or more parameters of the contact with the first kinematic chain.

[0136] In some embodiments, method 330 includes updating the constraint and / or constructing a constraint map based on one or more parameters of a subsequent contact with the first kinematic chain detected by the one or more sensors. For example, medical robotic system 200 creates a constraint map (e.g., based on initial contact information) or updates a previously constructed constraint map (e.g., based on subsequent contact information).

[0137] In some embodiments, one or more parameters of the contact form part of a probability map. For example, the contact information is converted into a probability that a particular object may be present at each position in three-dimensional space (thus, the probability values in the probability map represent the likelihood of contact or collision for each position or voxel).

[0138] In some embodiments, the probability map is determined based on the confidence level of contact detection. For example, an object (or contact) with a high detection confidence level may be assigned a high probability value because it is likely that the object is present at the corresponding position, while an object (or contact) with a low detection confidence level may be assigned a low probability value because it is unlikely that the object is present at the corresponding position.

[0139] In some embodiments, method 330 includes updating the probability map based on a finite time of the constraint. For example, the medical robot system 200 may update the probability map at one or more time intervals. In some implementations, updating the probability map based on a finite time of the constraint includes invalidating (or removing) one or more constraints after a particular period of time since such constraints were last updated in the probability map. This prevents old constraints from remaining on the probability map and interfering with the determination of the optimal configuration for the first kinematic chain.

[0140] In some embodiments, method 330 includes updating a probability map based on a probability of a change in a constraint. In some implementations, medical robotic system 200 determines whether a contact has been made with a stationary object or a dynamically moving object (e.g., based on the contact location, e.g., a contact outside of tabletop 225 may be modeled as a contact with a moving object, and a contact on tabletop 225 may be modeled as a contact with a stationary object). With respect to contact with a dynamic object, the probability is reduced based on the likelihood that the dynamic object will not remain in the same position. For example, a time decay function (or curve) may be used to update the probability map, where the time decay function may be a linear decay function or a non-linear decay function (e.g., an exponential decay function).

[0141] In some embodiments, the constraint is modeled as a potential field (e.g., potential field 227-1) (334) based at least in part on one or more parameters of the contact detected by one or more sensors. For example, the potential field is modeled as one or more positions at which a force is applied to one or more components of a first kinematic chain (and optionally components of other kinematic chains). In some embodiments, the modeled force on each component of the first kinematic chain due to the potential field may be based on the distance from the contact location to the position of each component and may have a direction away from the location of the collision.

[0142] In some embodiments, the potential field is also based on the probability of detecting contact by each of one or more sensors (335). For example, for a contact detected by a sensor with high detection reliability / fidelity (e.g., a sensor with low sensitivity), the modeled force is increased, and for a contact detected by a sensor with low detection reliability / fidelity (e.g., a sensor with high sensitivity), the modeled force is reduced. This increases the available space for the robotic arm and tool to maneuver by reducing the likelihood of contact with objects that are difficult to detect (e.g., due to the size or material of the object), while reducing the force on objects that can be detected reliably and accurately. In some embodiments, each of one or more sensors is assigned a predetermined detection probability (e.g., the medical robotic system 200 stores in memory a table of predetermined detection probability values for each sensor or each sensor type).

[0143] In some embodiments, the constraint is modeled as a no-go zone (e.g., a volume into which components of the first kinematic chain are not permitted to enter). In some embodiments, the no-go zone has one or more boundaries defined based on one or more parameters of the contact (e.g., the size of the no-go zone is determined based on force information, and the shape of the no-go zone is determined based on direction information and / or position information).

[0144] Method 330 further includes causing an adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration (e.g., the second configuration is different from the first configuration) based on the constraint (e.g., by actuating one or more actuators coupled to or included in the first kinematic chain) (336). This adjustment positions the first kinematic chain in a non-collision position and reduces the risk of future collisions.

[0145] In some embodiments, the first kinematic chain includes a first robotic arm (e.g., robotic arm 205-1) and an adjustable arm support on which the first robotic arm is positioned (e.g., adjustable arm support 210) (e.g., the first robotic arm is mechanically coupled to the adjustable arm support, such as being rotatably coupled), and adjusting the configuration of the first kinematic chain includes changing the position of the adjustable arm support (337).

[0146] In some embodiments, the method includes utilizing the null space of the first kinematic chain to cause the configuration of the first kinematic chain to be adjusted from a first configuration to a second configuration (338).

[0147] In some embodiments, method 330 includes causing the configuration of one or more other kinematic chains that are not in contact with one or more portions of the first kinematic chain to be adjusted based on constraints determined from one or more parameters of contact with the first kinematic chain detected by one or more sensors (e.g., moving robotic arms 205-1 and 205-3 even if they are not in contact with robotic arm 205-2, as shown in FIG. 29D).

[0148] In some embodiments, method 330 includes causing the configuration of one or more kinematic chains that are not in contact with an object to be adjusted based on constraints determined from one or more parameters of contact with the first kinematic chain detected by one or more sensors (e.g., moving robotic arms 205-1 and 205-3 that are not in contact with a patient, as shown in FIG. 29D).

[0149] In some embodiments, method 330 further includes performing a medical treatment. In some embodiments, the medical treatment includes a surgical procedure.

[0150] C. Sensor Architecture for Detecting Objects in the Vicinity As described above, the medical robot system 200 may include one or more sensors for detecting contact with a kinematic chain (e.g., a robotic arm). In some embodiments, the medical robot system 200 includes one or more sensors (e.g., non-contact proximity sensors) for detecting objects within the vicinity of the medical robot system 200. Such sensors do not require contact and can thus be used to adjust the configuration (or movement) of the kinematic chain and prevent contact before contact occurs. Examples of such sensors include sonar, radar, LIDAR, ultrasonic sensors, light-based sensors, or vision-based sensors.

[0151] FIG. 31 shows a sensor 314 mounted for detecting an object in the vicinity, according to some embodiments. In some embodiments, one or more sensors (e.g., sensors 314-1 to 314-5) are fixed to one or more of the robot links 132. In some embodiments, one or more sensors (e.g., sensors 314-6 and 314-7) are fixed outside the medical robot system 200 (e.g., to a wall or ceiling). In some cases, one or more sensors 314 can function as a reference point for collecting information about the dynamic environment. In some embodiments, one or more sensors 314 are located at either a link or a joint between links that has maximum visibility with respect to an object (e.g., a patient). In some embodiments, at least one robotic arm has one sensor. In some embodiments, at least one robotic arm has multiple sensors.

[0152] FIG. 32 shows an example of a robotic arm 205 having a plurality of sensors 314 for collecting information regarding a dynamic environment. In FIG. 32, the robotic arm 205 includes at least four sensors (the robotic arm 205 may include additional sensors, but FIGS. 32 shows four sensors 314-1 to 314-4). Three sensors 314-1 to 314-3 are positioned on the distal link of the robotic arm 205, while one sensor 314-4 is positioned on the proximal link of the robotic arm 205. As shown in FIG. 32, the different sensors 314 may be configured to detect different patches or regions of the environment. Sensors 314-1 and 314-2 detect different regions of a patient, sensor 314-3 detects medical staff (e.g., physician assistants, nurses, anesthesiologists, etc.), while sensor 314-4 does not detect anything. From the information detected by the sensors 314, a map of the environment can be generated.

[0153] FIG. 33 shows an exemplary representation of a human (e.g., a patient) with a map based on information detected by one or more sensors 314 (or a single sensor) according to some embodiments. In FIG. 33, the human is represented as a point cloud (e.g., a group of points or dots) in a three-dimensional space (e.g., each point is associated with three-dimensional coordinates). In some embodiments, each point has a probability value indicating the likelihood that the point belongs to a particular object (e.g., a patient). In FIG. 33, the probability value is represented based on the size of the point (e.g., a larger point represents a higher probability that the point belongs to the object).

[0154] D. Utilization of the sensed information to generate a map of the sensed object FIG. 34 is a flowchart showing a method for adjusting one or more kinematic chains based on information of a detected object according to some embodiments.

[0155] The workflow shown in FIG. 34 starts from map initialization (operation 322). In some implementations, map initialization includes using an empty map. In such cases, the medical robot system does not assume prior knowledge of the environment (e.g., the position and size of objects). In some other implementations, map initialization includes selecting an initial patient body map from a predetermined model of the patient's body model (a spatial model, a statistical model, or a deterministic model in the form of a grid or a point cloud). In such cases, the map is initialized using a patient body map (e.g., a default patient body map, or a patient body map selected or generated based on user input). For example, the patient body map may be generated based on the patient's body measurements (e.g., height and torso circumference, etc.). In some implementations, the initial patient body map has a space with nothing around the modeled patient body.

[0156] The medical treatment is started, and the medical robot system monitors the environment (operation 323) and updates the map with information about the detected object (operation 324). For example, when the robotic arm moves, the sensor records the distance to the nearest object within the field of view. In some implementations, the medical robot system determines whether the detected object belongs to the medical robot system. If the detected object does not belong to the medical robot system 200 and the object is within the scope of the medical treatment, the initial spatial model / statistical model or deterministic model (or map) is updated. The update can be based on any simultaneous localization and mapping (SLAM) algorithm or sensor fusion algorithm, such as a Kalman filter, a particle filter, and a covariance intersection algorithm. The update operation (operation 324) is repeated periodically. After several iterations, a spatial model of the environment with high confidence (e.g., including the patient's body) can be achieved.

[0157] When the reliability and accuracy of the model are sufficiently high, the robotic processor avoids collisions with this model. Thereby, the possibility of collision with the patient is eliminated. By modifying the arrangement of the bars during operation based on this model, it is also possible to improve efficiency (such as reducing collisions between the arms).

[0158] In some cases, a new configuration of the kinematic chain is determined based on the updated map (operation 325), and the medical robotic system arranges the kinematic chain in the determined configuration (operation 326). While the kinematic chain is in the optimized configuration, the medical treatment continues. As a result, the possibility that the kinematic chain contacts another object is reduced. Thereby, ultimately, the number of collisions (such as between robotic arms or between a robotic arm and another object) decreases, so the efficiency of the medical treatment improves.

[0159] In some implementations, due to the dynamic nature of the environment, each patch of the boundary can be assigned a probability based on when and how the boundary patch was detected (e.g., a medical robotic system stores information indicating when and how information about a particular point was detected, such as a detection timestamp). For example, in accordance with a determination that a patch was determined with a high contact force (or with a sensor having high sensitivity), a medical robotic system assigns a high probability to the detected boundary of the object. In addition, the medical robotic system decreases the probability over time to reflect the fact that the object may have moved from its original position, so that a boundary detected quite some time ago becomes invalid. On the other hand, if the object continues to be detected at the same or a similar location over time, the medical robotic system increases the probability assigned to the detected boundary of the object. In such cases, the position and shape of the object (or its boundary) can be approximated with higher accuracy. In some implementations, additional prior knowledge may be used. For example, it is known that a patient is relatively stationary on a tabletop, while staff generally move around outside the bed. Accordingly, based on the position of the sensor measurements, separate models may be generated (e.g., a patient model based on sensor measurements of the tabletop area that can become invalid or decay over time, and a staff model based on sensor measurements outside the bed).

[0160] Figures 35A - 35G show the configuration of a robotic arm and a corresponding map according to some embodiments. In Figures 35A - 35G, the sensors are not shown so as not to obscure other aspects of the operation of the medical robotic system.

[0161] Figure 35A shows, on the left side of the figure, a medical robot system having robot arms 205-1 and 205-2, with patient 240 positioned on tabletop 225. Figure 35A also shows ceiling structure 291 (e.g., a lighting fixture). On the right side of Figure 35A, a graphic representation of an object map corresponding to the setting shown on the left side of Figure 35A is shown. The object map includes a map of the patient 241 (e.g., a point cloud representing the surface boundary of the patient), and also includes a map of one or more portions of tabletop 225 and ceiling structure 291.

[0162] Figure 35B shows, on the left side of the figure, robot arm 205-2 moving (e.g., to a more optimal position or orientation) based on map of the patient 241. Figure 35B also shows, on the left side of the figure, that medical worker 242 has moved near robot arm 205-1. On the right side of Figure 35B, a graphic representation of an updated object map including map of medical worker 243 is shown.

[0163] Figure 35C shows, on the left side of the figure, robot arm 205-1 moving based on an updated map including map of medical worker 243.

[0164] Figure 35D shows, on the left side of the figure, that medical worker 242 has moved away from robot arm 205-1. However, Figure 35D shows, on the right side of the figure, that map of medical worker 243 remains (for at least a certain period of time).

[0165] Figure 35E shows that on the right side of the figure, the map 243 of the medical staff has been removed. In some implementation modes, the map 243 of the medical staff (or any moving object) becomes invalid after a certain period (for example, the map of the moving object is removed when a pre-set period elapses). In some other implementation modes, the map 243 of the medical staff (or any moving object) decays over time (for example, the probability value of the map of the moving object decreases over time). On the other hand, the patient 240 continues to be detected at the same position over time. In some implementation modes, the probability value of the map of a static object (such as the patient 240) increases over time.

[0166] Figure 35F shows that on the left side of the figure, the medical staff 242 has moved near the robotic arm 205-2. On the right side of Figure 35F, a graphical representation of another updated object map including the map 243 of the medical staff 242 on the right side of the patient 240 is shown.

[0167] Figure 35G shows that on the left side of the figure, the robotic arm 205-2 moves based on an updated map including the map 243 of the medical staff at a new position.

[0168] As shown in Figures 35A to 35G, the medical robotic system can detect objects within the vicinity of the medical robotic system and adjust the configuration of the kinematic chain so that the risk of collision with the kinematic chain is reduced. Figures 35A to 35G also show that a certain object is modeled differently in the map. For example, the map of a moving object may become invalid or decay over time, and the probability value of a static object may increase over time (or when a threshold time is reached).

[0169] In some embodiments, the object is modeled using a buffer zone within the map. If the kinematic chain is allowed to move right next to the boundary of the object, various reasons such as measurement error, modeling error, and movement of the object may cause the kinematic chain to come into contact with the object. Providing a buffer zone (e.g., a certain area or volume having a boundary at a specific distance from the boundary of the object) can reduce the possibility of contact between the kinematic chain and the object. In some embodiments, the buffer distance db of the buffer zone is determined based on various factors (e.g., probability of detection, reliability of detection, etc.) as shown in FIG. 36A. For example, for two objects 244 and 245 having the same physical size (and shape), if object 244 is a static object and object 245 is a moving object, their buffer zones 246 and 247 may have different sizes.

[0170] FIG. 37 is a flowchart showing a method 370 for adjusting the configuration of a robotic arm based on sensor information according to some embodiments. The method 330 is executed by an electronic device (e.g., one or more processors such as the processor 380 described with respect to FIG. 38) that communicates with a medical robotic system (e.g., the robotic arm 205 and the medical robotic system 200 having one or more sensors described with respect to FIG. 31) including a first robotic arm and one or more sensors positioned to detect an object within the vicinity of the first robotic arm.

[0171] In some embodiments, the one or more sensors include at least one or more of a sonar, radar, LIDAR, ultrasonic, light-based sensor, or vision-based sensor.

[0172] In some embodiments, the one or more sensors include at least one non-contact sensor. In some embodiments, the one or more sensors include at least one contact sensor in addition to at least one non-contact sensor.

[0173] In some embodiments, the first robotic arm is controlled remotely. In some embodiments, when the stored instructions are executed by one or more processors, the one or more processors receive a control signal from an input device located separately from the one or more processors. In some embodiments, the input device is located separately from the first robotic arm or any other robotic arm.

[0174] In some embodiments, the first robotic arm is kinematically redundant. For example, the first robotic arm has more degrees of freedom than are necessary to complete a medical task (e.g., the first robotic arm has seven, eight, or nine or more degrees of freedom, with or without an associated adjustable arm support).

[0175] In some embodiments, the medical robotic system includes a movable patient platform. In some embodiments, the movable patient platform includes a rigid base and a tabletop movable relative to the rigid base.

[0176] Method 370 includes receiving (371) sensor information corresponding to the position of one or more objects present within the vicinity of the first robotic arm (e.g., at a first time) from one or more sensors.

[0177] Method 370 also includes generating or updating an object map (e.g., a data structure indicating the position and / or size of objects adjacent to a medical robotic system, particularly a first robotic arm) based on the sensor information (372), where the object map characterizes the spatial relationships of the objects within the vicinity of the first robotic arm. In some embodiments, the object map characterizes the spatial relationships of the objects adjacent to the medical robotic system. By utilizing multiple sensors, it is possible to detect objects passing through occlusions. For example, an object may be located behind an obstacle within the field of view of a particular sensor. However, the object may be detected by one or more other sensors viewing the object from different angles. Thus, by utilizing multiple sensors, even if there are obstacles that occlude the object in a particular field of view, the object can be detected and its position determined.

[0178] Method 370 further includes adjusting the configuration of the first robotic arm from a first configuration to a second configuration (e.g., the second configuration is different from the first configuration) based on the object map (373). The adjustment of the configuration of the first robotic arm reduces the risk of collision between the first robotic arm and the detected object.

[0179] In some embodiments, the medical robotic system includes one or more robotic arms other than the first robotic arm and one or more second sensors positioned to detect the presence of objects within the vicinity of the one or more robotic arms. Method 370 further includes receiving, from the one or more second sensors, second sensor information corresponding to one or more positional locations of one or more objects (e.g., the same objects and / or different objects represented in the first sensor information) within the vicinity of the one or more robotic arms, generating or updating the object map based also on the second sensor information, and adjusting the configuration of the one or more robotic arms based on the object map.

[0180] In some embodiments, after generating or updating the object map, method 370 includes repeatedly receiving subsequent sensor information corresponding to the positions of one or more objects within the vicinity of the first robotic arm from one or more sensors, updating the object map based on the subsequent sensor information, and adjusting the configuration of the first robotic arm according to the object map updated based on the subsequent sensor information (374).

[0181] In some embodiments, method 370 optionally includes updating the object map (375) based on the probability of detecting each of the one or more objects. For example, an object with a low probability of detection (e.g., detected at a frequency below a threshold frequency and thus less likely to be detected) is modeled using a buffer area to reduce the probability of collision with the object, and an object with a high probability of detection (e.g., detected at a frequency above the threshold frequency and thus more likely to be detected) is modeled without using a buffer area or using a smaller buffer area.

[0182] In some embodiments, one or more objects include objects that move dynamically. For example, an object is located at a first position at a first time and at a second position different from the first position at a second time different from the first time. The dynamically moving object may be a patient, staff, or accessory. In some embodiments, the object moves dynamically based on the configuration (e.g., kinematic information) of the medical robotic system (e.g., the object changes its position based on the configuration of the first robotic arm or any other robotic arm). For example, the object is a patient whose position changes based on the configuration of a patient platform (e.g., an operating table). In other embodiments, the object is a bedside staff who tries not to get in the way of the robotic arm while the robotic arm is moving. In some embodiments, the method further includes removing an update to the object map (376) (or updating the object map to reduce or eliminate the impact of the object on the object map, or removing the object from the object map) after a period of time after the object map is updated to reflect the object. For example, when an object is detected at location A, the area near location A is marked on the object map. After a certain amount of time has passed, the area around location A is no longer marked on the object map. This does not apply to objects that remain in the same position. For example, one or more processors refrain from removing the update to the object map or maintain the object within the object map according to a determination that the object continues to be detected (e.g., around the same position).

[0183] In some embodiments, adjusting the configuration of the first robotic arm increases the distance between the first robotic arm and the dynamic object so that the risk of collision between the first robotic arm and the dynamic object is reduced.

[0184] In some embodiments, one or more objects include static objects. In some embodiments, method 370 includes maintaining (or maintaining an update to the object map with respect to static objects) static objects in the object map by continuously detecting static objects (e.g., around the same location) based on sensor information.

[0185] In some embodiments, method 370 includes updating (377) the object map based also on the configuration (e.g., kinematic information) of a medical robotic system (e.g., the configuration of the first robotic arm and / or any other robotic arm configuration).

[0186] In some embodiments, method 370 further includes performing a medical procedure. In some embodiments, the medical procedure includes a surgical procedure.

[0187] E. Determination of Configuration As described above, the medical robotic system determines a new configuration of the kinematic chain based on sensor information (e.g., contact information and / or information about detected objects). While there are certain conditions for the new configuration, such as the ADM134 of the robotic arm 205 and / or the remote center of motion (RCM) coupled thereto being maintained in a static posture / position, it is necessary to increase the distance between each kinematic chain and the detected object and the distance between any two kinematic chains (so as to reduce the likelihood of contact and provide an expanded workspace for manipulating the kinematic chain). There are many ways to determine a new configuration based on these conditions, and one way to determine a new configuration is based on a cost function (also called a loss function). For example, the cost function can include penalties or points based on the conditions of the new configuration, and the new configuration is selected based on parameters (e.g., the position of each component of the kinematic chain) that minimize or maximize the cost function.

[0188] In some implementations, in order to maximize the working space of a medical robot system, the following optimization process may be performed. While maintaining the remote center position of each robotic arm, the minimum distance of the joint position to each joint limit (by increasing the amount of movement to the joint limit, reducing the possibility of any joint reaching its joint limit), and the minimum distance between any two robotic arms (reducing the possibility of collision between the two robotic arms) are targeted for maximization. Assuming there are a total of six robotic arms, with the first to third robotic arms on one base and the fourth to sixth robotic arms on another base, the cost function can be described as follows.

[0189]

Number

[0190]

Number

[0191] If the magnitude of the contact, force, or torque, or both, is known and used, the optimization may be performed as an online process such that the improvement in contact reduction can be measured during the optimization. The following modified cost function may be used.

[0192]

Number

[0193]

Number

[0194] To enable offline optimization, the position of the object can be estimated such that the estimated distance between the robot arm and the object can be calculated using additional information on the rough contact position and contact direction.

[0195] If the rough position is used without contact direction information, assuming that a contact with the magnitude of |Fi,j| and |Ti,j| is detected on link i of robot arm j, the position of the object can be estimated to be at a distance of min(kF / |Fi,j|, kT / |Ti,j|) from the contact link along its perpendicular bisector, denoted as Oi,j. The distance between the contact link and the object can be estimated as ri,j(qj). For link ri where no contact is detected, ri,j(qj) = 0. The new cost function that also considers the contact distance is as follows.

[0196]

Number

[0197]

Number

[0198] If the contact direction information is available along with the rough contact position, a more accurate object position can be estimated. Using the contact direction information, the object position O’i,j can be estimated as veci,j + kF·Fi,j / |Fi,j|2, where veci,j is

[0199]

Number

[0200] Next, the distance between the contact link and the object can be estimated in the same way as described above. The estimated distance is r’ i,j (q j ) and is expressed as. In some implementations, for the link on the revolute joint, it is necessary to include in the optimization to orient the angle between the contact direction and the link direction in the length direction to 90°. Along dir i,j , for the contact detected on link i of robot arm j, the link direction in the length direction is the angle q i,j (q j ) = arccos(dir i,j ·link i,j ) between the two direction vectors, and link j is a function of q i,j . The new cost function that also considers the contact direction is as follows.

[0201]

Number

[0202]

Equation

[0203] 3. Implementation System and Terms Figure 38 is a schematic diagram showing the electronic components of a medical robot system according to some embodiments.

[0204] A medical robot system includes one or more processors 380 that communicate with a computer-readable storage medium 382 (e.g., computer memory devices such as random access memory, read-only memory, static random access memory, and non-volatile memory, as well as other storage devices such as hard drives, optical disks, magnetic tape recording, or any combination thereof) that stores instructions for performing any of the methods described herein (e.g., the operations described with respect to FIGS. 30 and 37). The one or more processors 380 also communicate with an input / output controller 384 (via a system bus or any suitable electrical circuit). The input / output controller 384 receives sensor data from one or more sensors 388-1, 388-2, etc., and relays the sensor data to the one or more processors 380. The input / output controller 384 also receives instructions and / or data from the one or more processors 380 and relays the instructions and / or data to one or more actuators such as first motors 387-1 and 387-2. In some embodiments, the input / output controller 384 is coupled to one or more actuator controllers 386 and provides instructions and / or data to at least a subset of the one or more actuator controllers 386, which in turn provide control signals to the selected actuators. In some embodiments, the one or more actuator controllers 386 are integrated with the input / output controller 384, and the input / output controller 384 provides control signals directly to the one or more actuators 387 (without an intervening actuator controller). FIG. 38 shows the presence of one actuator controller 386 (e.g., one actuator controller for the entire mobile medical platform), but in some embodiments, additional actuator controllers (e.g., one actuator controller for each actuator, etc.) may be used.

[0205] The implementations disclosed herein provide a system, method, and apparatus for a medical robotic system that can optimize the configuration of a kinematic chain based on the position of an object in the vicinity of the kinematic chain.

[0206] Note that as used herein, the terms "coupled," "coupling," "coupled to," or other variations of the word coupling may indicate either an indirect connection or a direct connection. For example, if a first component is "coupled to" a second component, the first component may be indirectly connected to the second component via another component or directly connected to the second component.

[0207] The functions for power assist mobilization of the mobile medical platform described in this specification may be stored as one or more instructions on a processor-readable medium or a computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or a processor. By way of example, and not limitation, such a medium may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM), or other optical disk storage devices, magnetic disk storage devices, or other magnetic storage devices, or any other medium that can be used to store the desired program code in the form of instructions or data structures and can be accessed by a computer. It should be noted that the computer-readable medium may be tangible and non-transitory. As used herein, the term "code" may refer to software, instructions, code, or data that is executable by a computing device or a processor.

[0208] The methods disclosed in this specification include one or more steps or acts for achieving the described methods. The method steps and / or acts may be exchanged without departing from the scope of the claims. In other words, the order and / or use of specific steps and / or acts may be modified without departing from the scope of the claims, provided that a specific order of steps or acts is not required for the proper operation of the described method.

[0209] As used herein, the term "plurality" means two or more. For example, a plurality of components means two or more components. The term "determine" encompasses a wide variety of acts, and thus, "determine" can include calculating, computing, processing, calculating, investigating, looking up (e.g., looking at a table, database, or other data structure), ascertaining, etc. Further, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), etc. Further, "determine" can include solving, selecting, choosing, establishing, etc.

[0210] The phrase "based on" does not mean "based only on" unless otherwise explicitly specified. In other words, the phrase "based on" encompasses both "based only on" and "based at least on".

[0211] As used herein, the phrase "in the vicinity of a medical robot system" can refer to the detection range of a sensor (e.g., at least one of the sensors can detect an object within the vicinity of the medical robot system) or the movement range of a kinematic chain. In some cases, the phrase "within the vicinity" can also include "in the same room", "within the field of view", adjacent, or nearby.

[0212] The foregoing description of the disclosed implementations is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these implementations will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other implementations without departing from the scope of the invention. For example, those skilled in the art will understand that many corresponding alternative and equivalent structural details, such as equivalent ways of fastening, attaching, coupling, or engaging tool components, equivalent mechanisms for producing specific actuation movements, and equivalent mechanisms for delivering electrical energy, can be employed. Accordingly, the present invention is not intended to be limited to the implementations shown herein, but rather is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0213] [Embodiment] (1) A medical robot system, comprising: a first kinematic chain; one or more sensors positioned to detect one or more parameters of contact with one or more parts of the first kinematic chain; one or more processors in communication with the one or more sensors; a memory storing instructions that, when executed by the one or more processors, cause adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on constraints determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors; A medical robot system comprising the above. (2) The medical robot system according to Embodiment 1, wherein the first kinematic chain includes a first robot arm. (3) The first kinematic chain includes an adjustable arm support on which the first robot arm is positioned, and the adjustment of the configuration of the first kinematic chain includes changing the position of the adjustable arm support. The medical robot system according to Embodiment 2. (4) The first kinematic chain includes one or more links and an end effector, wherein the one or more sensors include at least one of a force / torque sensor positioned at a base of the first kinematic chain, a force / torque sensor positioned adjacent to a joint between the one or more links and the end effector, or one or more contact sensors on the one or more links. The medical robot system according to any one of Embodiments 1 to 3. (5) The medical robot system according to any one of Embodiments 1 to 4, wherein the contact with the first kinematic chain includes contact between the first kinematic chain and an object that is not part of the medical robot system.

[0214] (6) Further comprising one or more kinematic chains that are not in contact with one or more parts of the first kinematic chain, wherein when the instructions are executed by the one or more processors, the configuration of the one or more kinematic chains is adjusted based on the constraints determined from the one or more parameters of the contact with the first kinematic chain detected by the one or more sensors. The medical robot system according to any one of Embodiments 1 to 5. (7) The medical robot system according to any one of Embodiments 1 to 6, wherein the constraints are modeled as a potential field based at least in part on the one or more parameters of the contact detected by the one or more sensors. (8) The medical robot system according to Embodiment 7, wherein the potential field is also based on the probability of detecting contact by each of the one or more sensors. (9) The one or more parameters of the contact include one or more selected from the group consisting of force information of the contact, position information of the contact, and direction information of the contact, and the medical robot system according to any one of Embodiments 1 to 8. (10) Further including updating the constraint and / or constructing a constraint map based on one or more parameters of a subsequent contact with the first kinematic chain detected by the one or more sensors, and the medical robot system according to any one of Embodiments 1 to 9.

[0215] (11) The one or more parameters of the contact form part of a probability map, and the medical robot system according to any one of Embodiments 1 to 10. (12) The probability map is determined based on the reliability of contact detection, and the medical robot system according to Embodiment 11. (13) The one or more parameters of the contact include information regarding whether the contact is with a moving object or a stationary object, and / or position information of the contact, and the medical robot system according to Embodiment 11 or 12. (14) When the stored instructions are executed by the one or more processors, the one or more processors are further caused to update the probability map based on a finite time of the constraint, and the medical robot system according to Embodiment 13. (15) When the stored instructions are executed by the one or more processors, the one or more processors are further caused to update the probability map based on a probability of change of the constraint, and the medical robot system according to Embodiment 13 or 14.

[0216] (16) The adjustment of the configuration of the first kinematic chain utilizes the null space of the first kinematic chain, and the medical robot system according to any one of Embodiments 1 to 15. (17) The first kinematic chain is the medical robot system according to any one of Embodiments 1 to 16, which is kinematically redundant. (18) A method executed by an electronic device that communicates with a medical robot system including the first kinematic chain and one or more sensors positioned to detect one or more parameters of contact between the first kinematic chain and the one or more sensors, comprising: Receiving one or more parameters of contact with the first kinematic chain detected by the one or more sensors; Determining constraints associated with the first kinematic chain based on the one or more parameters of contact with the first kinematic chain; Causing adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on the constraints; A method comprising. (19) The first kinematic chain includes a first robotic arm and an adjustable arm support on which the first robotic arm is positioned, Adjusting the configuration of the first kinematic chain includes changing the position of the adjustable arm support. The method according to Embodiment 18. (20) The one or more sensors include at least one of a force sensor positioned at a base of the first kinematic chain, a force sensor positioned adjacent to a joint between one or more links of the first kinematic chain and an end effector, or one or more contact sensors on the one or more links. The method according to Embodiment 18 or 19.

[0217] (21) The method according to any one of Embodiments 18 to 20, wherein the contact with the first kinematic chain includes contact between the first kinematic chain and an object that is not part of the medical robot system. Based on the one or more parameters of the contact with the first kinematic chain detected by the one or more sensors, further comprising causing adjustment of the configuration of one or more kinematic chains that are not in contact with one or more parts of the first kinematic chain, the method according to any one of embodiments 18 to 21. (23) The method according to any one of embodiments 18 to 22, wherein the constraint is modeled as a potential field based at least in part on the one or more parameters of the contact detected by the one or more sensors. (24) The method according to embodiment 23, wherein the potential field is also based on the probability of detecting contact by each of the one or more sensors. (25) The method according to any one of embodiments 18 to 24, wherein the one or more parameters of the contact include one or more selected from the group consisting of force information of the contact, position information of the contact, and direction information of the contact.

[0218] (26) The method according to any one of embodiments 18 to 25, comprising utilizing the null space of the first kinematic chain while causing adjustment of the configuration of the first kinematic chain from the first configuration to the second configuration. (27) An electronic device, one or more processors; a memory storing instructions which, when executed by the one or more processors, cause the one or more processors to receive one or more parameters of contact with a first kinematic chain of a medical robotic system detected by the one or more sensors; determine a constraint associated with the first kinematic chain based on the one or more parameters of the contact with the first kinematic chain; cause adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on the constraint; A memory that causes the operation, and An electronic device comprising. (28) The first kinematic chain includes a first robotic arm and an adjustable arm support on which the first robotic arm is positioned. Adjustment of the configuration of the first kinematic chain includes changing the position of the adjustable arm support. The electronic device according to Embodiment 27. (29) The one or more sensors include at least one of a force sensor positioned at the base of the first kinematic chain, a force sensor positioned adjacent to a joint between one or more links and an end effector of the first kinematic chain, or one or more contact sensors on the one or more links. The electronic device according to Embodiment 27 or 28. (30) The contact with the first kinematic chain includes contact between the first kinematic chain and an object that is not part of the medical robotic system. The electronic device according to any one of Embodiments 27 to 29.

[0219] (31) When the instruction is executed by the one or more processors, the one or more processors are further caused to adjust the configuration of one or more kinematic chains that do not include contact with one or more parts of the first kinematic chain based on the constraints determined from the one or more parameters of the contact with the first kinematic chain detected by the one or more sensors. The electronic device according to any one of Embodiments 27 to 30. (32) The constraint is modeled as a potential field based at least in part on the one or more parameters of the contact detected by the one or more sensors. The electronic device according to any one of Embodiments 27 to 31. (33) The potential field is also based on the probability of detecting contact by each of the one or more sensors. The electronic device according to Embodiment 32. (34) The one or more parameters of the contact include one or more selected from the group consisting of force information of the contact, position information of the contact, and direction information of the contact, and the electronic device according to any one of Embodiments 27 to 33. (35) When the instruction is executed by the one or more processors, the one or more processors are further caused to utilize the null space of the first kinematic chain while adjusting the configuration of the first kinematic chain from the first configuration to the second configuration, and the electronic device according to any one of Embodiments 27 to 34.

[0220] (36) A computer-readable storage medium storing instructions for execution by one or more processors of an electronic device, wherein the stored instructions receive one or more parameters of a contact with a first kinematic chain of a medical robotic system detected by the one or more sensors; determine a constraint associated with the first kinematic chain based on the one or more parameters of the contact with the first kinematic chain; cause an adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on the constraint; instructions for including. (37) The stored instructions also include instructions for executing the method according to any one of Embodiments 19 to 26, and the computer-readable storage medium according to Embodiment 36.

Claims

1. A medical robot system, a first kinematic chain, one or more sensors positioned to detect one or more parameters of contact between the first kinematic chain and one or more parts of the first kinematic chain, one or more processors in communication with the one or more sensors, a memory storing instructions that, when executed by the one or more processors, cause adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on constraints determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors, comprising: The first kinematic chain includes a first robotic arm and an adjustable arm support on which the first robotic arm is positioned, The adjustment of the configuration of the first kinematic chain includes changing the position of the adjustable arm support, A medical robot system.

2. The first kinematic chain includes one or more links and an end effector, The one or more sensors include at least one of a force sensor positioned at the base of the first kinematic chain, a force sensor positioned adjacent to a joint between the one or more links and the end effector, or one or more contact sensors on the one or more links, The medical robot system according to claim 1.

3. The medical robot system according to claim 1 or 2, wherein the contact with the first kinematic chain includes contact between the first kinematic chain and an object that is not part of the medical robot system.

4. Further comprising one or more kinematic chains that are not in contact with one or more parts of the first kinematic chain, The instructions, when executed by the one or more processors, cause adjustment of the configuration of the one or more kinematic chains based on the constraints determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors, The medical robot system according to any one of claims 1 to 3.

5. The medical robot system according to any one of claims 1 to 4, wherein the constraint is modeled as a potential field based at least in part on the one or more parameters of the contact detected by the one or more sensors.

6. The medical robot system according to claim 5, wherein the potential field is also based on the probability of detecting contact by each of the one or more sensors.

7. The medical robot system according to any one of claims 1 to 6, wherein the one or more parameters of the contact include one or more selected from the group consisting of force information of the contact, position information of the contact, and direction information of the contact.

8. The medical robot system according to any one of claims 1 to 7, further comprising updating the constraint and / or constructing a constraint map based on one or more parameters of a subsequent contact with the first kinematic chain detected by the one or more sensors.

9. A medical robot system, a first kinematic chain, one or more sensors positioned to detect one or more parameters of contact with one or more parts of the first kinematic chain, one or more processors in communication with the one or more sensors, a memory storing instructions that, when executed by the one or more processors, cause adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of the contact with the first kinematic chain detected by the one or more sensors, comprising, A medical robot system, wherein the one or more parameters of the contact form part of a probability map.

10. The medical robot system according to claim 9, wherein the probability map is determined based on the reliability of contact detection.

11. The medical robot system according to claim 9 or 10, wherein the one or more parameters of the contact include information regarding whether the contact is with a moving object or a stationary object and / or position information of the contact. **Claim 12**: The medical robot system according to claim 11, wherein when the stored command is executed by the one or more processors, the one or more processors are further caused to update the probability map based on a finite time of the constraint. **Claim 13**: The medical robot system according to claim 11 or 12, wherein when the stored command is executed by the one or more processors, the one or more processors are further caused to update the probability map based on a changing probability of the constraint. **Claim 14**: A medical robot system, comprising: a first kinematic chain; one or more sensors positioned to detect one or more parameters of contact with one or more parts of the first kinematic chain; one or more processors in communication with the one or more sensors; a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to adjust a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors; and wherein the adjustment of the configuration of the first kinematic chain utilizes a null space of the first kinematic chain. **Claim 15**: The medical robot system according to any one of claims 1 to 14, wherein the first kinematic chain is kinematically redundant. **Claim 16**: A method executed by an electronic device communicating with a medical robot system including a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with the first kinematic chain, the method comprising: receiving, by the one or more sensors, the one or more parameters of contact with the first kinematic chain; determining, based on the one or more parameters of contact with the first kinematic chain, a constraint associated with the first kinematic chain; and causing, based on the constraint, an adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration. ​ ​ The method includes utilizing the null space of the first kinematic chain while causing adjustment of the configuration of the first kinematic chain from the first configuration to the second configuration.

17. The first kinematic chain includes a first robotic arm and an adjustable arm support on which the first robotic arm is positioned. Adjustment of the configuration of the first kinematic chain includes changing the position of the adjustable arm support. The method according to claim 16.

18. The one or more sensors include at least one of a force sensor positioned at a base of the first kinematic chain, a force sensor positioned adjacent to a joint between one or more links and an end effector of the first kinematic chain, or one or more contact sensors on the one or more links. The method according to claim 16 or 17.

19. The contact with the first kinematic chain includes contact between the first kinematic chain and an object that is not part of the medical robotic system, according to any one of claims 16 to 18.

20. The method according to any one of claims 16 to 19, further including causing adjustment of the configuration of one or more kinematic chains that are not in contact with one or more parts of the first kinematic chain based on the constraint determined from the one or more parameters of the contact with the first kinematic chain detected by the one or more sensors.

21. The constraint is modeled as a potential field based at least in part on the one or more parameters of the contact detected by the one or more sensors, according to any one of claims 16 to 20.

22. The potential field is also based on the probability of detecting contact by each of the one or more sensors, according to claim 21.

23. The one or more parameters of the contact include one or more selected from the group consisting of force information of the contact, position information of the contact, and direction information of the contact, according to any one of claims 16 to 22.

24. An electronic device, One or more processors, A memory for storing instructions, which, when executed by the one or more processors, cause the one or more processors to receive one or more parameters of contact with a first kinematic chain of a medical robot system detected by the one or more sensors; determine constraints associated with the first kinematic chain based on the one or more parameters of contact with the first kinematic chain; cause adjustment of the configuration of the first kinematic chain from a first configuration to a second configuration based on the constraints; A memory that causes the above; Comprising; The instructions, when executed by the one or more processors, further cause the one or more processors to utilize the null space of the first kinematic chain while adjusting the configuration of the first kinematic chain from the first configuration to the second configuration. An electronic device.

25. The first kinematic chain includes a first robotic arm and an adjustable arm support on which the first robotic arm is positioned. Adjusting the configuration of the first kinematic chain includes changing the position of the adjustable arm support. The electronic device according to claim 24.

26. The one or more sensors include at least one of a force sensor positioned at the base of the first kinematic chain, a force sensor positioned adjacent to a joint between one or more links of the first kinematic chain and an end effector, or one or more contact sensors on the one or more links. The electronic device according to claim 24 or 25.

27. The electronic device according to any one of claims 24 to 26, wherein the contact with the first kinematic chain includes contact between the first kinematic chain and an object that is not part of the medical robot system.

28. When the command is executed by the one or more processors, the one or more processors are further caused to adjust the configuration of one or more kinematic chains that are not included in contact with one or more portions of the first kinematic chain based on the constraints determined from the one or more parameters of the contact with the first kinematic chain detected by the one or more sensors. The electronic device according to any one of claims 24 to 27.

29. The constraint is modeled as a potential field based at least in part on the one or more parameters of the contact detected by the one or more sensors. The electronic device according to any one of claims 24 to 28.

30. The potential field is also based on the probability of detecting contact by each of the one or more sensors. The electronic device according to claim 29.

31. The one or more parameters of the contact include one or more selected from the group consisting of force information of the contact, position information of the contact, and direction information of the contact. The electronic device according to any one of claims 24 to 30.

32. A computer-readable storage medium storing instructions for execution by one or more processors of an electronic device, the stored instructions being instructions for performing the method according to claim 16 The computer-readable storage medium comprising.

33. The stored instructions also include instructions for performing the method according to any one of claims 17 to 23. The computer-readable storage medium according to claim 32.

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