Automated motion control of a dependent surgical robotic arm.

Abstract

To improve upon dependent motion among surgical robotic arms involved in multi-robotic arm surgical tasks.SOLUTION: A motion dependency surgical robotic system employs an independent robotic arm 20, a dependent robotic arm 21, and a motion dependency robot controller 104. In operation, the motion dependency robot controller 104 controls an independent motion of the independent robotic arm 20 within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm 20 within the coordinate space, and further controls a motion of the dependent robotic arm 21 within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm 20 and the dependent robotic arm 21 within the coordinate space.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The presently disclosed invention relates generally to surgical robotic systems that utilize two or more surgical robotic arms (e.g., the da Vinci® Surgical System, the Raven Robotic Surgical System, the Sport™ Surgical System, the Flex™ Robotic System, etc.) The presently disclosed invention more particularly relates to improving such surgical robotic systems by providing automated motion control of one surgical robotic arm that relies on independent operator control of another surgical robotic arm. [Background technology]

[0002] The surgical robotic arms of today's surgical robotic systems are controlled from a surgeon's console. Typically, an operator moves a handle on the console, where signals from the handle are interpreted and translated into movements of the surgical robotic arm. More specifically, each surgical robotic arm is operated independently of the other(s), which requires the operator to frequently switch control between the surgical robotic arms. This frequent switching of control between the surgical robotic arms creates workflow problems. Summary of the Invention [Problem to be solved by the invention]

[0003] Furthermore, in many multi-robot-arm surgical tasks, the movement of one surgical robotic arm depends on the movement of another surgical robotic arm in order to perform the surgical task. For example, in laparoscopic surgery, a knot-tying operation is a synchronized operation of two surgical robotic arms. In another example, pick-and-place surgical tasks (e.g., suture sponges or imaging devices) also require synchronized movement of surgical robotic arms. By way of further example, some surgical tasks (e.g., cutting and cauterizing) designate one surgical robotic arm to be the leading surgical robotic arm and another surgical robotic arm to be the follower surgical robotic arm (e.g., the follower surgical robotic arm follows the leading surgical robotic arm a fixed distance along a line). Furthermore, for example, if a surgical robotic arm holds an endoscope and two additional surgical robotic arms each hold an instrument, the movement of the robotically-held endoscope depends on the position of the instrument in order to keep the robotically-held instrument within the view of the endoscope.

[0004] Clearly, the success or failure of a multi-robotic arm surgical task is highly dependent on the skill of the surgeon console operator to frequently switch control between the surgical robotic arms. [Means for solving the problem]

[0005] To improve dependent movements between surgical robotic arms involved in multi-robotic arm surgical tasks, the present disclosure provides an invention for controlling two or more surgical robotic arms using one or more input devices by interpreting and translating signals from input device(s) (e.g., handle(s), joystick(s), rollerball(s), etc.) into movements of independent surgical robotic arms, where the movements of the one or more dependent surgical robotic arms are defined by their spatial geometric relationships to the movements of the independent surgical robotic arms. The inventive improvement of the present disclosure is intuitive control of multi-robotic arm surgical tasks with reduced need to switch control between surgical robotic arms.

[0006] For purposes of describing and claiming the invention(s) of this disclosure, (1) The term "spatial geometric relationship" broadly encompasses motion dependencies between multiple surgical robotic arms within a coordinate space defined by motion vectors in the form of linear and / or angular vectors, and further defined by the magnitude and / or direction of the motion vectors relative to an axis or plane within the coordinate space, or the magnitude and / or direction of the motion vectors relative to a geometric object within the coordinate space; (2) The term “independent surgical robotic arm” broadly encompasses all structural configurations of surgical robotic arms, as known in the art of this disclosure and as contemplated below, having a range of motion in coordinate space controlled by input devices, as known in the art of this disclosure; (3) The term “dependent surgical robotic arm” broadly encompasses all structural configurations of surgical robotic arms, as known in the art of the present disclosure and as contemplated below, that have a range of motion in coordinate space that is automatically controlled in accordance with the inventive principles of the present disclosure.

[0007] An example of a spatial geometric relationship between an independent and dependent surgical robotic arm in accordance with the presently disclosed inventive principles is a defined linear vector between the surgical robotic arms in coordinate space. The automated motion control of the dependent surgical robotic arm maintains a distance between the surgical robotic arms equal to the magnitude of the linear vector, and the direction of that linear vector varies such that the dependent surgical robotic arm follows the path of the independent surgical robotic arm in coordinate space as controlled by the operator of input device(s) (e.g., handle(s), joystick(s), rollerball(s), etc.).

[0008] A second example of a spatial geometric relationship between an independent and dependent surgical robotic arm in accordance with the presently disclosed inventive principles is a defined linear vector between the surgical robotic arms in a coordinate space, the linear vector having a direction parallel to an axis of the coordinate space, a direction transverse to the plane of the coordinate space, or a direction radial to the surface of a sphere. When an operator of the input device(s) uses motion control of the independent surgical robotic arm in the coordinate space, the automated motion control of the dependent surgical robotic arm maintains a distance between the surgical robotic arms equal to the magnitude of the linear vector and further maintains an orientation of the dependent surgical robotic arm corresponding to the direction of the vector that is parallel to an axis, transverse to the plane, or radial to the surface of a sphere.

[0009] A third example of a spatial geometric relationship between an independent and dependent surgical robotic arm in accordance with the presently disclosed inventive principles is a defined angle vector between the surgical robotic arms in coordinate space. The automated motion control of the dependent surgical robotic arm maintains an angular orientation between the surgical robotic arms equal to the magnitude of the angle vector, the direction of which varies such that the dependent surgical robotic arm tracks the path of the independent surgical robotic arm in coordinate space as controlled by the operator of input device(s) (e.g., handle(s), joystick(s), rollerball(s), etc.).

[0010] A fourth example of a spatial geometric relationship between an independent and dependent surgical robotic arm in accordance with the disclosed inventive principles is a defined angle vector between the surgical robotic arms in a coordinate space, the angle vector having a direction transverse to a plane of the coordinate space. When an operator of the input device(s) uses motion control of the independent surgical robotic arm in the coordinate space, the automated motion control of the dependent surgical robotic arm maintains an angular orientation between the surgical robotic arms equal to the magnitude of the angle vector, and further maintains an orientation of the dependent surgical robotic arm corresponding to the angle vector direction transverse to the plane.

[0011] A fifth example of a spatial geometric relationship between an independent and dependent surgical robotic arm in accordance with the presently disclosed inventive principles is a defined procedural synchronization between the surgical robotic arms in the performance of a surgical task (e.g., tying a knot in laparoscopic surgery). The automated motion control of the dependent surgical robotic arm in coordinate space is a function of the movement of the independent surgical robotic arm in coordinate space when an operator of the input device(s) uses the motion control of the independent surgical robotic arm in coordinate space in accordance with a particular surgical procedure (e.g., the automated motion control of the dependent surgical robotic arm is calculated via an explicit function defined by the procedural synchronization or looked up via a look-up table that defines the procedural synchronization).

[0012] A sixth example of a spatial geometric relationship between a pair of independent surgical robotic arms and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure is a defined relative positioning between the surgical robotic arms in coordinate space, where automatic motion control of the dependent surgical robotic arm maintains the relative positioning between the surgical robotic arms when an operator of an input device uses motion control of the independent surgical robotic arm in coordinate space.

[0013] Furthermore, the spatial-geometric relationships of the present disclosure are implemented during a specified time period(s) or the entire robotic surgical procedure, are implemented for a specific task(s) or all tasks of the robotic surgical procedure, have conditional or fixed definitions, and are defined as a function of time.

[0014] Also, for purposes of describing and claiming the invention of this disclosure: (1) The term "motion-dependent surgical robotic system" broadly encompasses all surgical robotic systems, as hereinafter contemplated, known in the art of the present disclosure that incorporate the inventive principles of the present disclosure for controlling two or more surgical robotic arms by processing input signals from an input device(s) into motions of the independent surgical robotic arms, where the motions of one or more dependent surgical robotic arms are defined by the spatial geometric relationship of the dependent surgical robotic arms to the independent surgical robotic arms. Examples of known surgical robotic systems include, but are not limited to, the da Vinci® Surgical System, the Raven Robotic Surgical System, the Sport™ Surgical System, and the Flex™ Robotic System. (2) The term “motion-dependent robotic control method” broadly encompasses all methods of controlling a surgical robotic system, as known in the art of the present disclosure and as contemplated below, that incorporate the inventive principles of the present disclosure for controlling two or more surgical robotic arms by processing input signals from an input device(s) into movements of independent surgical robotic arms, where the movements of one or more dependent surgical robotic arms are defined by the spatial geometric relationship of the dependent surgical robotic arms to the independent surgical robotic arms. (3) The term "motion-dependent robotic controller" broadly encompasses all structural configurations of housed application-specific mainboards or application-specific integrated circuits utilized within the motion-dependent surgical robotic systems of the present disclosure to control the application of the various inventive principles of the present disclosure described later herein. The structural configuration of the controller includes, but is not limited to, processor(s), computer-usable / computer-readable storage medium(s), operating system(s), application module(s), peripheral device controller(s), interface(s), bus(es), slot(s), and port(s). (4) The term "application module" broadly encompasses a component of a motion-dependent robotic controller consisting of electronic circuitry and / or executable programs (e.g., executable software and / or firmware stored on one or more non-transitory computer-readable media) for executing a specific application; (5) The terms "signal," "data," and "command" broadly encompass all forms of detectable physical quantities or motive forces (e.g., voltage, current, or magnetic field strength) as understood in the art of the present disclosure and illustratively described herein for communicating information and / or instructions in support of applying the various inventive principles of the present disclosure as described hereinafter. Signal / data / command communication between components of the present disclosure involves communication methods as known in the art of the present disclosure and as contemplated below, including, but not limited to, sending / receiving data / commands over any type of wired or wireless medium / data link, and reading signals / data / commands uploaded to a computer-usable / computer-readable storage medium.

[0015] One embodiment of the presently disclosed invention is a motion-dependent surgical robotic system that utilizes an independent surgical robotic arm, a dependent surgical robotic arm, and a motion-dependent robotic controller in communication with the independent surgical robotic arm and the dependent surgical robotic arm.

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

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

[0018] In operation, the independent motion vector generator generates independent motion vector signals (e.g., linear vectors or angular vectors) for controlling the movement of the independent surgical robotic arms in coordinate space in response to input signals indicative of the movement of the independent surgical robotic arms in coordinate space.

[0019] The independent surgical robotic arm actuators generate independent actuation commands beneficial to movement of the independent surgical robotic arms within coordinate space in response to generation of the independent motion vector signals by the independent motion vector generator.

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

[0021] The dependent surgical robotic arm actuator generates actuation commands beneficial to movement of the dependent surgical robotic arm within coordinate space in response to generation of the dependent motion vector signal by the dependent motion vector generator.

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

[0023] The above and other embodiments of the presently disclosed invention, as well as various features and advantages of the presently disclosed invention, will become more apparent from the following detailed description of various embodiments of the presently disclosed invention, read in conjunction with the accompanying drawings. The detailed description and drawings are merely illustrative of the presently disclosed invention, rather than limiting, the scope of which is defined by the appended claims and equivalents thereof. [Brief explanation of the drawings]

[0024] [Figure 1] 1A-1C illustrate exemplary embodiments of spatial geometric relationships between an independent surgical robotic arm and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figures 2A-2E] 1A-1C illustrate exemplary embodiments of spatial distances between an independent surgical robotic arm and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figures 3A-3D] 10A-10C illustrate further exemplary embodiments of spatial distances between independent and dependent surgical robotic arms in accordance with the inventive principles of the present disclosure. [Figures 4A-4C] 1A-1C illustrate exemplary embodiments of angular orientations of independent and dependent surgical robotic arms in accordance with the inventive principles of the present disclosure. [Figures 5A-5C] 10A-10C illustrate further exemplary embodiments of angular orientations between independent and dependent surgical robotic arms in accordance with the inventive principles of the present disclosure. [Figures 6A-6G]1A-1C illustrate an exemplary embodiment of procedural synchronization between an independent and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figure 7] 1 is a flowchart depicting a first exemplary embodiment of a motion-dependent robotic control method for an independent surgical robotic arm and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figure 8A-8B] 1A-1C illustrate an exemplary embodiment of obstacle avoidance by a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figure 9] 10 is a flowchart depicting a second exemplary embodiment of a motion-dependent robotic control method for an independent surgical robotic arm and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figure 10] 1A-1C illustrate exemplary embodiments of spatial geometric relationships between a pair of independent surgical robotic arms and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figure 11] 1A-1C illustrate exemplary embodiments of relative arrangements between a pair of independent surgical robotic arms and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figure 12] 1 is a flowchart depicting a first exemplary embodiment of a motion-dependent robotic control method for a pair of independent surgical robotic arms and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figure 13] 10 is a flowchart depicting a second exemplary embodiment of a motion-dependent robotic control method for a pair of independent surgical robotic arms and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. [Figures 14A-14B] 1A-1C illustrate an exemplary embodiment of a motion-dependent surgical robotic system in accordance with the inventive principles of the present disclosure. [Figures 15A-15B] 1A-1C illustrate exemplary embodiments of motion-dependent robotic controllers for independent and dependent surgical robotic arms in accordance with the inventive principles of the present disclosure. [Figures 16A-16B]1A-1C illustrate exemplary embodiments of a motion-dependent robotic controller for a pair of independent surgical robotic arms and a dependent surgical robotic arm in accordance with the inventive principles of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0025] To facilitate understanding of the presently disclosed invention, the following description of Figures 1-5 teaches basic inventive principles of spatial geometric relationships between independent and dependent surgical robotic arms in accordance with the presently disclosed inventive principles. From this description of Figures 1-5, one skilled in the art will understand how to apply the presently disclosed inventive principles to implement many different spatial geometric relationships between independent and dependent surgical robotic arms.

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

[0027] A motion vector MV of the independent surgical robot arm 20 in the coordinate space CS IRA is controllable by input devices (e.g., handle(s), joystick(s), rollerball(s), etc.) of a surgical robotic system (not shown) as known in the art of the present disclosure. More specifically, the motion vector MV of the independent surgical robotic arm 20 in the coordinate space CS is IRA are input signals IS generated by an input device that direct the translation, rotation, and / or pivoting of the independent surgical robotic arm 20 within the coordinate space CS. IRA is a function of

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

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

[0030] In one embodiment, the motion vector MV of the independent surgical robotic arm 20 IRA and dependent motion vector MV of surgical robotic arm 21 DRA What is [XYZ] IRA and [XYZ] DRA and three target positions of the surgical robot arms 20 and 21 in the coordinate system CS according to

[0031] In the second embodiment, the motion vector MV of the independent surgical robot arm 20 IRA and dependent motion vector MV of surgical robotic arm 21 DRA is [XYZ Φ Θ Ψ] IRA and [XYZ Φ Θ Ψ] DRA and three target positions and three orientations of the surgical robot arms 20 and 21 in the coordinate system CS according to

[0032] In addition, in practice, the motion vector MV of the independent surgical robot arm 20 IRA and dependent motion vector MV of surgical robotic arm 21 DRAis derived as the target velocity of the current orientation of the surgical robot arms 20 and 21 in the coordinate system CS.

[0033] In one embodiment, the motion vector MV of the independent surgical robotic arm 20 IRA and dependent motion vector MV of surgical robotic arm 21 DRA is [dX / dt dY / dt dZ / dt] IRA and [dX / dt dY / dt dZ / dt] DRA and three translational velocities of the surgical robot arms 20 and 21 in the coordinate space CS according to

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

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

[0036] The following description of Figures 2-5 shows various examples of the spatial geometric relationship SGR between surgical robot arm 20 and surgical robot arm 21.

[0037] Referring to FIG. 2A, a path following linear vector PFLV between surgical robot arm 20 and surgical robot arm 21 defines a spatial geometric relationship SGR, wherein the automated motion control of dependent surgical robot arm 21 maintains a spatial distance between surgical robot arm 20 and surgical robot arm 21 equal to the magnitude of the path following linear vector PFLV, and the direction of the path following linear vector PFLV varies such that dependent surgical robot arm 21 follows the linear path LP and / or curved path CLP of independent surgical robot arm 20 in coordinate space CS ( FIG. 1 ), controlled by the operator of input device(s) (e.g., handle(s), joystick(s), rollerball(s), etc.).

[0038] In practice, the direction of the path-following linear vector PFLV is variable depending on the movement of the independent surgical robotic arms 20 in the coordinate system CS, but the magnitude of the path-following linear vector PFLV is fixed or variable under specific condition(s). For example, the magnitude of the path-following linear vector PFLV may be reduced as the surgical robotic arms 20 and 21 approach the target position in the coordinate space CS, or may decay over time as the surgical robotic arms 20 and 21 are translated, rotated, and / or pivoted in the coordinate space CS.

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

[0040] 2B illustrates automated motion control of dependent surgical robotic arm 21 a maintaining a fixed or variable spatial distance between surgical robotic arm 20 a and surgical robotic arm 21 a equal to the magnitude of path following linear vector PFLV such that dependent surgical robotic arm 21 a follows the linear path LP of independent surgical robotic arm 20 a in coordinate space CS. In this example, automated motion control of dependent surgical robotic arm 21 a involves an orientation of dependent surgical robotic arm 21 a in coordinate space CS that is dependent on the orientation of independent surgical robotic arm 20 a in coordinate space CS (e.g., robotic arms 20 a and 21 a maintain equal orientations in coordinate space CS or a fixed relative orientation in coordinate space CS).

[0041] 2C illustrates automated motion control of dependent surgical robotic arm 21 a maintaining a fixed or variable spatial distance between surgical robotic arm 20 a and surgical robotic arm 21 a equal to the magnitude of path following linear vector PFLV such that dependent surgical robotic arm 21 a follows the linear path LP of independent surgical robotic arm 20 a in coordinate space CS. In this example, automated motion control of dependent surgical robotic arm 21 a involves an orientation of dependent surgical robotic arm 21 a in coordinate space CS that is independent of the orientation of independent surgical robotic arm 20 a in coordinate space CS (e.g., robotic arms 20 a and 21 a have a variable relative orientation in coordinate space CS).

[0042] By way of further example, Figure 2D illustrates automated motion control of dependent surgical robotic arm 21a that maintains a fixed or variable spatial distance between surgical robotic arm 20a and surgical robotic arm 21a equal to the magnitude of path following linear vector PFLV such that dependent surgical robotic arm 21a follows the curved path CLP of independent surgical robotic arm 20a in coordinate space C. In this example, the automated motion control of dependent surgical robotic arm 21a involves an orientation of dependent surgical robotic arm 21a in coordinate space C that is dependent on the orientation of independent surgical robotic arm 20a in coordinate space C.

[0043] 2E illustrates automated motion control of dependent surgical robotic arm 21 a maintaining a fixed or variable spatial distance between surgical robotic arm 20 a and surgical robotic arm 21 a equal to the magnitude of path following linear vector PFLV such that dependent surgical robotic arm 21 a follows the curved path CLP of independent surgical robotic arm 20 a in coordinate space C. In this example, automated motion control of dependent surgical robotic arm 21 a involves an orientation of dependent surgical robotic arm 21 a in coordinate space C that is independent of the orientation of independent surgical robotic arm 20 a in coordinate space C.

[0044] Referring to FIG. 3A, the geometric linear vector GLF between the surgical robot arm 20 and the surgical robot arm 21 defines a spatial geometric relationship SGR, whereby when an operator of the input device(s) uses motion control of the independent surgical robot arm 20 in the coordinate space CS, the automatic motion control of the dependent surgical robot arm 21 maintains a spatial distance between the surgical robot arm 20 and the surgical robot arm 21 equal to the magnitude of the geometric linear vector GLF, and further maintains an orientation of the dependent surgical robot arm 21 corresponding to the direction of the geometric linear vector that is parallel to an axis of the coordinate space CS, transverse to the plane of the coordinate space CS, or radial to the surface of a sphere.

[0045] In practice, the direction of the geometrically linear vector GLF is variable depending on the movement of the independent surgical robotic arms 20 within the coordinate system CS, but the magnitude of the geometrically linear vector GLF is fixed or variable under specific condition(s). For example, the magnitude of the geometrically linear vector GLF may be reduced as the surgical robotic arms 20 and 21 approach the target position within the coordinate space CS, or may decay over time as the surgical robotic arms 20 and 21 are translated, rotated, and / or pivoted within the coordinate space CS.

[0046] Also, in practice, in the case of a geometric linear vector GLF implementation, the orientation of the dependent surgical robot arm 21 in the coordinate space CS may or may not depend on the orientation of the independent surgical robot arm 20 in the coordinate space CS.

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

[0048] By way of further example, Figure 3C illustrates automated motion control of dependent surgical robotic arm 21a maintaining a fixed or variable spatial distance between surgical robotic arm 20a and surgical robotic arm 21a equal to the magnitude of geometric linear vector GLF, the direction of which traverses the XY plane of coordinate space CS. In this example, the automated motion control of dependent surgical robotic arm 21a involves an orientation of dependent surgical robotic arm 21a in coordinate space CS that is independent of the orientation of independent surgical robotic arm 20a in coordinate space CS.

[0049] By way of further example, Figure 3D illustrates automated motion control of dependent surgical robotic arm 21 a maintaining a fixed or variable spatial distance between surgical robotic arm 20 a and surgical robotic arm 21 a equal to the magnitude of a geometrically linear vector GLF extending radially from the center of a sphere, the direction of which along the surface of the sphere depends on the rotational motion of independent surgical robotic arm 20 a. In this example, the automated motion control of dependent surgical robotic arm 21 a involves an orientation of dependent surgical robotic arm 21 a in coordinate space C S that is independent of the orientation of independent surgical robotic arm 20 a in coordinate space C S.

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

[0051] In practice, the direction of the path tracking angle vector PTAV is variable depending on the movement of the independent surgical robotic arms 20 within the coordinate system, but the magnitude of the path tracking angle vector PTAV is fixed or variable under specific condition(s). For example, the magnitude of the path tracking angle vector PTAV may be reduced as the surgical robotic arms 20 and 21 approach the target position within the coordinate space CS, or may decay over time as the surgical robotic arms 20 and 21 are translated, rotated, and / or pivoted within the coordinate space CS.

[0052] Also, in practice, in the case of a path tracking angle vector PTAV implementation, the orientation of the dependent surgical robot arm 21 in the coordinate space CS may or may not depend on the orientation of the independent surgical robot arm 20 in the coordinate space CS.

[0053] 4B and 4C illustrate automated motion control of a dependent surgical robotic arm 21 that maintains a fixed or variable angular orientation of the path of the surgical robotic arm 20 and the path of the surgical robotic arm 21 such that the dependent surgical robotic arm 21 tracks the independent surgical robotic arm 20 in a coordinate space CS controlled by an operator of input device(s) (e.g., handle(s), joystick(s), rollerball(s), etc.). In FIG. 4B, the orientation of the dependent surgical robotic arm 21a in the coordinate space CS depends on the orientation of the independent surgical robotic arm 20a in the coordinate space CS. Conversely, in FIG. 4C, the orientation of the dependent surgical robotic arm 21a in the coordinate space CS is independent of the orientation of the independent surgical robotic arm 20a in the coordinate space CS.

[0054] Referring to FIG. 5A, the geometric angle vector GAV between surgical robot arm 20 and surgical robot arm 21 defines a spatial geometric relationship SGR, in which the automatic motion control of dependent surgical robot arm 21 maintains the angular orientation of the path of surgical robot arm 20 and the path of surgical robot arm 21 relative to the plane of coordinate system CS when an operator of input device(s) uses motion control of independent surgical robot arm 20 within coordinate space CS.

[0055] In practice, the direction of the geometric angle vector G is variable depending on the movement of the independent surgical robotic arms 20 within the coordinate system, but the magnitude of the geometric angle vector G is fixed or variable under specific condition(s). For example, the magnitude of the geometric angle vector G may be reduced as the surgical robotic arms 20 and 21 approach the target position within the coordinate space C, or may decay over time as the surgical robotic arms 20 and 21 are translated, rotated, and / or pivoted within the coordinate space C.

[0056] Also, in practice, in the case of an implementation of the geometric angle vector GAV, the orientation of the dependent surgical robot arm 21 in the coordinate space CS may or may not depend on the orientation of the independent surgical robot arm 20 in the coordinate space CS.

[0057] 5B and 5C illustrate automated motion control of a dependent surgical robotic arm 21 that maintains a fixed or variable angular orientation of the path of the surgical robotic arm 20 and the path of the surgical robotic arm 21 relative to the XY plane, such that the dependent surgical robotic arm 21 tracks the independent surgical robotic arm 20 in a coordinate space CS controlled by an operator of input device(s) (e.g., handle(s), joystick(s), rollerball(s), etc.). In FIG. 5B, the orientation of the dependent surgical robotic arm 21a in the coordinate space CS depends on the orientation of the independent surgical robotic arm 20a in the coordinate space CS. Conversely, in FIG. 5C, the orientation of the dependent surgical robotic arm 21a in the coordinate space CS is independent of the orientation of the independent surgical robotic arm 20a in the coordinate space CS.

[0058] Referring to FIG. 6A , procedural synchronization 23 between surgical robot arm 20 and surgical robot arm 21 defines the spatial geometric relationship of the present disclosure derived from an implementation of a surgical task (e.g., laparoscopic knot tying), where the automatic movement control of dependent surgical robot arm 21 in coordinate space CS is a function within the context of the surgical task of the movement of independent surgical robot arm 20 in coordinate space CS when an operator of input device(s) uses movement control of independent surgical robot arm 20 in coordinate space CS according to the surgical task.

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

[0060] Also, in practice, the automatic movement control of the dependent surgical robot arm 21 is retrieved via a look-up table 25 that stores the procedural relationship between the surgical robot arm 20 and the surgical robot arm 21 according to the surgical task.

[0061] For example, Figures 6B-6G show successive steps of laparoscopic knot tying performed by surgical robotic arms 20a and 21a.

[0062] In one embodiment, the automated motion control of the dependent surgical robotic arm 21 a is calculated via an explicit function that defines the procedural relationship between the surgical robotic arm 20 a and the surgical robotic arm 21 a according to the steps of the laparoscopic thread tying task. More specifically, in this example, the explicit function defines the movement of the dependent surgical robotic arm 21 a relative to the placement of the independent surgical robotic arm 20 a upon completion of the rotation of the independent surgical robotic arm 20 a to wrap the thread around the independent surgical robotic arm 20 a, as shown in FIG. 6C, whereupon the dependent surgical robotic arm 21 a is automatically moved in position relative to the independent surgical robotic arm 20 a to thereby grasp the thread, as shown in FIG. 6D. Furthermore, a further explicit function defines the movement of the dependent surgical robot arm 21a relative to the placement of the independent surgical robot arm 20a upon completion of movement of the independent surgical robot arm 20a through the looped thread, as shown in Figures 6D and 6E, whereupon the dependent surgical robot arm 21a is automatically moved in position relative to the independent surgical robot arm 20a, thereby tightening the thread as shown in Figure 6G.

[0063] Alternatively, a lookup table defines the movement of the dependent surgical robotic arm 21 a relative to the position of the independent surgical robotic arm 20 a upon completion of the rotation of the independent surgical robotic arm 20 a to wrap the thread around the independent surgical robotic arm 20 a, as shown in Figure 6C, where the dependent surgical robotic arm 21 a is automatically moved in position relative to the independent surgical robotic arm 20 a to thereby grasp the thread as shown in Figure 6 D. Further, a lookup table defines the movement of the dependent surgical robotic arm 21 a relative to the position of the independent surgical robotic arm 20 a upon completion of the movement of the independent surgical robotic arm 20 a through the looped thread, as shown in Figures 6D and 6E, where the dependent surgical robotic arm 21 a is automatically moved in position relative to the independent surgical robotic arm 20 a to thereby tighten the thread as shown in Figure 6G.

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

[0065] Referring to FIG. 7, a flow chart 30 depicts a motion-dependent robotic control method for the independent surgical robotic arm 20 (FIG. 1) and the dependent surgical robotic arm 21 (FIG. 1).

[0066] Step S32 of flowchart 30 is A. Robotic motion RM of the independent surgical robotic arm 20 in coordinate space CS with respect to translational, rotational and / or pivotal motion of the independent surgical robotic arm 20 IRA an interpretation known in the art of the present disclosure of an input signal IS indicative of B. A motion vector MV representing the target location or target velocity of the end effector of the independent surgical robot arm 20 within the coordinate space CS. IRA Robot Movement RM IRA and a transformation known in the art of the present disclosure of C. Actuation commands AC for the actuator(s) (e.g., actuatable joints) of the independent surgical robotic arm 20 IRA and a calculation known in the art of the present disclosure of (a) to (c) that moves the end effector of the independent surgical robotic arm 20 to a target position or at a target velocity within the coordinate space CS. The robotic arm movements involve independent surgical robotic arm movements within the coordinate space CS (Figure 1).

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

[0068] In addition, in practice, the actuation commands AC of each actuator of the independent surgical robot arm 20 for translating, rotating, and / or pivoting the independent surgical robot arm 20 at a target velocity within the coordinate space CS are IRA The Jacobian function is used to calculate

[0069] An exemplary implementation of step S32 shown in FIG. 7 includes an input device 103 (e.g., handle(s), joystick(s), rollerball(s), etc.) receiving an input signal IS IRA to the motion-dependent robot controller 104a of the present disclosure, which communicates the actuation command AC IRA to control the independent movement of the independent surgical robotic arms 20.

[0070] Once the end effector motion transformation of step S32 is complete, step S34 of flowchart 30 A. A motion vector MV representing a target location or target velocity of the end effector of the dependent surgical robot arm 21 in the coordinate space CS. DRA where the motion vector MV DRA is the motion vector MV for the independent surgical robot arm 20. IRA and any applicable spatial geometric relationship (e.g., one of the spatial geometric relationships of FIGS. 2-6). DRA Calculation of B. Actuation commands AC for the actuator(s) (e.g., actuatable joints) of the dependent surgical robotic arm 21 DRA and a calculation known in the art of the present disclosure, which causes the end effector of the dependent surgical robotic arm 21 to move to a target position or at a target velocity within the coordinate space CS. The involved surgical robot arm movements encompass dependent surgical robotic arm movements within the coordinate space CS (Figure 1).

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

[0072] In addition, in practice, the actuation commands AC of each actuator of the dependent surgical robot arm 21 for translating, rotating and / or pivoting the dependent surgical robot arm 21 at a target velocity within the coordinate space CS are DRA The Jacobian function is used to calculate

[0073] An exemplary implementation of step S34 shown in FIG. 7 is performed by the motion-dependent robot controller 104a issuing the actuation command AC DRAand thereby controlling the movement of the dependent surgical robot arm 21 in the coordinate space CS, which is dependent on the movement of the independent surgical robot arm 20 in the coordinate space CS.

[0074] In effect, the disclosed motion-dependent robotic controller performs obstacle avoidance of environmental hazards while controlling the movement of the dependent surgical robotic arm 21 in coordinate space CS, which is dependent on the movement of the independent surgical robotic arm 20 in coordinate space CS.

[0075] 8A shows collision areas CA1 and CA2, which represent staff, devices, and / or sensors in an operating room in an operating room. In order for surgical robotic arms 20a and 21a to avoid collision areas CA1 and CA2, input devices of the surgical robotic system are operated to control the movement of independent surgical robotic arm 21a in avoiding collision areas CA1 and CA2, while a movement-dependent robotic controller of the present disclosure processes environmental information indicating the locations of collision areas CA1 and CA2 and modifies the dependent movement of dependent surgical robotic arm 21a as needed to avoid collision areas CA1 and CA2. The environmental information, in this case, is provided by a tracking system (e.g., an electromagnetic tracking system or an optical tracking system) registered to the surgical robotic system.

[0076] By way of further example, Figure 8B illustrates anatomical prohibition zones FZ1-FZ3 relative to a sphere for controlling the movement of a dependent surgical robotic arm 21a that is dependent on the movement of an independent surgical robotic arm 20a. A movement-dependent robotic controller of the present disclosure processes information indicating the locations of the anatomical prohibition zones FZ1-FZ3 and modifies the dependent movement of the dependent surgical robotic arm 21a as needed to avoid the anatomical prohibition zones FZ1-FZ3. The environmental information, in this case, is derived from image(s) of the anatomical region that indicates the anatomical prohibition zones FZ1-FZ3 defined within the image(s) (e.g., a fusion of intraoperative and preoperative images or endoscopic images).

[0077] More specifically, as shown in FIG. 8B, if a constant distance is to be maintained between surgical robotic arm 20a and surgical robotic arm 21a on the surface of the sphere, the position of dependent surgical robotic arm 21a will be somewhere on the sphere. Thus, if the environmental signal is endoscopic video, the operator can mark allowable (or forbidden) zones on the image. Thus, as independent surgical robotic arm 20a moves, the movement-dependent robot controller of the present disclosure tracks the allowable zone(s) in the image and calculates the section on the surface of the sphere where dependent surgical robotic arm 21a is allowed.

[0078] 9, Flowchart 40 depicts a motion-dependent robotic control method for independent surgical robotic arm 20 (FIG. 1) and dependent surgical robotic arm 21 (FIG. 1) incorporating obstacle avoidance aspects. In particular, Flowchart 40 is a modified version of Flowchart 30 (FIG. 7), previously described herein, in which step S42 of Flowchart 40 corresponds to step S32 of Flowchart 30, step S44 of Flowchart 40 corresponds to step S34 of Flowchart 30, and in which the motion-dependent robotic controller 104b of the present disclosure: A. Admissible zone AZ in coordinate space CS DRA Environmental signals to bring DRA interpretations known in the art of the present disclosure; B. A motion vector MV representing the target location or target velocity of the end effector of the dependent surgical robot arm 21 in the coordinate space CS. DRA where the motion vector MV DRA is the motion vector MV for the independent surgical robot arm 20. IRA and any applicable spatial geometric relationship (e.g., one of the spatial geometric relationships in Figures 2 to 6) and the tolerance zone AZ. DRA The motion vector MV is a function of DRA Calculation of perform further acts of.

[0079] To facilitate a further understanding of the presently disclosed invention, the following description of Figures 10-13 teaches basic inventive principles of spatial geometric relationships between an independent surgical robotic arm pair and a dependent surgical robotic arm in accordance with the presently disclosed inventive principles. From this description of Figures 10-13, one skilled in the art will understand how to apply the presently disclosed inventive principles to implement many different spatial geometric relationships between an independent surgical robotic arm pair and a dependent surgical robotic arm.

[0080] 10, a three-dimensional ("3D") coordinate space CS, again symbolized by XY axes shown for clarity, represents the operating space for performing a surgical robotic procedure (e.g., general surgical procedure, cardiac surgical procedure, neurosurgery, etc.) In practice, the coordinate space CS is established by the support of the patient's anatomical region within the operating space (e.g., a patient table).

[0081] Motion vectors MV of the independent surgical robotic arms 20 and 22 in the coordinate space CS IRA are controllable by input devices (e.g., handle(s), joystick(s), rollerball(s), etc.) of a surgical robotic system (not shown) as known in the art of the present disclosure. More specifically, the motion vectors MV of the independent surgical robotic arms 20 and 22 within the coordinate space CS are IRA1 and MV IRA2 are input signals IS generated by input device(s) that direct the translation, rotation, and / or pivoting of the independent surgical robotic arms 20 and 22 within the coordinate space CS. IRA1 and IS IRA2 In practice, the input device is switchable between controlling the movement of the surgical robotic arm 20 and the surgical robotic arm 22 within the coordinate space CS, or alternatively, two separate input devices are utilized to independently control the movement of the surgical robotic arm 20 and the surgical robotic arm 22 within the coordinate space CS.

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

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

[0084] In addition, in practice, the motion vector MV of the independent surgical robot arm 20 IRA1 and the motion vector MV of the independent surgical robot arm 22 IRA2 and the motion vector MV of the dependent surgical robot arm 21 DRA and are derived as the target velocity of the current orientation of the surgical robot arm 20-22 in the coordinate system CS.

[0085] The spatial geometric relationship SGR is the motion dependency of the dependent surgical robot arm 21 on the operator-controlled motion of the independent surgical robot arms 20 and 22 within the coordinate space CS. More specifically, the spatial geometric relationship SGR defines motion vectors in the form of linear and / or angular vectors, and is further defined by the magnitude and / or direction of the motion vector relative to an axis or plane within the coordinate space, or relative to a geometric object within the coordinate space.

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

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

[0088] The following description of FIG. 11 illustrates an example of the spatial geometric relationships SGR between the surgical robotic arms 20-22.

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

[0090] 12, flowchart 50 illustrates a motion-dependent robotic control method for independent surgical robotic arms 20 and 22 (FIG. 10) and dependent surgical robotic arm 21 (FIG. 10). In particular, flowchart 50 is a modified version of flowchart 30 (FIG. 7), previously described herein, in which step S52 of flowchart 50 corresponds to step S32 of flowchart 30, step S54 of flowchart 50 corresponds to step S34 of flowchart 30, and in which a motion-dependent robotic controller 104c of the present disclosure generates a motion vector MV representing a target location or target velocity of the end effector of dependent surgical robotic arm 21 within coordinate space CS. DRA Then, the motion vector MV DRA is the motion vector MV for the independent surgical robotic arm 20IRA1 and the motion vector MV for the independent surgical robot arm 22 IRA2 and any applicable spatial geometric relationship (eg, one of the spatial geometric relationships of FIGS. 2-6 and 11).

[0091] 13, Flowchart 50 illustrates a motion-dependent robotic control method for independent surgical robotic arms 20 and 22 (FIG. 10) and dependent surgical robotic arm 21 (FIG. 10) incorporating obstacle avoidance aspects. In particular, Flowchart 60 is a modified version of Flowchart 40 (FIG. 9), previously described herein, in which step S62 of Flowchart 60 corresponds to step S42 of Flowchart 40, step S64 of Flowchart 60 corresponds to step S44 of Flowchart 40, and in which a motion-dependent robotic controller 104d of the present disclosure generates a motion vector MV representing a target location or target velocity of the end effector of dependent surgical robotic arm 21 within coordinate space CS. DRA Then, the motion vector MV DRA is the motion vector MV for the independent surgical robotic arm 20 IRA1 and the motion vector MV for the independent surgical robot arm 22 IRA2 and any applicable spatial geometric relationship (eg, one of the spatial geometric relationships of FIGS. 2-6 and 11) and the tolerance zone AZ.

[0092] To facilitate a further understanding of the presently disclosed invention, the following description of Figures 14-16 teaches basic inventive principles of a motion-dependent surgical robotic system and a motion-dependent surgical robotic controller according to the presently disclosed inventive principles. From this description of Figures 14-16, one skilled in the art will understand how to apply the presently disclosed inventive principles to implement many different embodiments of a motion-dependent surgical robotic system and a motion-dependent surgical robotic controller according to the presently disclosed inventive principles.

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

[0094] The operator console 101a includes a display / image controller 102 for displaying pre-operative images, intra-operative images, and / or a fusion of such images, as known in the art of this disclosure.

[0095] The operator console 101a further includes one or more input devices 103 (e.g., handle(s), joystick(s), rollerball(s), etc.) and a motion-dependent robot controller 104, as further described herein with respect to Figures 15 and 16.

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

[0097] In practice, the robotic cart 105a includes the further surgical robotic arm 20 and / or the surgical robotic arm 21.

[0098] In practice, the surgical robotic arm may also service independent or dependent surgical robotic arms based on the particular surgical task to be performed by the system 100 .

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

[0100] The motion-dependent surgical robotic systems of the present disclosure (eg, systems 100a and 100b) are practiced in conjunction with imaging and / or tracking systems.

[0101] When utilized, the imaging system implements any imaging modality known in the art and contemplated below for imaging an anatomical region (not shown) and for communicating imaging data informing such imaging to a motion-dependent surgical robotic system, examples of which include, but are not limited to, CT, MRI, X-ray, and ultrasound.

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

[0103] When utilized, the tracking system implements any tracking technique known in the art of this disclosure and contemplated below for tracking a surgical robotic arm within coordinate space and for communicating tracking data indicative of such tracking to a motion-dependent surgical robotic system, including, but not limited to, electromagnetic tracking, optical tracking, and Fiber-Optic RealShape ("FORS") sensor tracking.

[0104] Alternatively, the tracking system is omitted, particularly when the motion-dependent surgical robotic system utilizes encoded surgical robot arm-generated tracking data for tracking the surgical robot arm(s) within coordinate space.

[0105] Next, an exemplary embodiment of the motion-dependent robot controller 104 will be described herein.

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

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

[0108] Memory may include various memories, such as, for example, an L1, L2, or L3 cache, or system memory, etc. Thus, memory may include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read-only memory (ROM), or other similar memory devices.

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

[0110] A network interface includes one or more devices for enabling communication with other hardware devices. For example, a network interface may include a network interface card (NIC) configured to communicate according to the Ethernet protocol. Further, a network interface may implement a TCP / IP stack for communication according to the TCP / IP protocol. Various alternative or additional hardware or configurations for a network interface will be apparent.

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

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

[0113] In particular, according to step S32 of flowchart 30, independent motion vector generator 110 generates an input signal IS IRA and calculate the motion vector MV IRA , and the independent surgical robot arm actuator 111 generates a motion vector MV IRA Processes and activates command AC IRA Generate.

[0114] Further, according to step S34 of flowchart 30, the dependent motion vector generator 112a generates the motion vector MV in the context of the spatial geometric relationship SGR. IRA and calculate the motion vector MV DRA , and the independent surgical robot arm actuator 111 generates a motion vector MV DRA Processes and activates command AC DRA Generate.

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

[0116] In particular, according to step S42 of flowchart 40, independent motion vector generator 110 generates an input signal IS IRA and calculate the motion vector MV IRA , and the independent surgical robot arm actuator 111 generates a motion vector MV IRA Processes and activates command AC IRA Generate.

[0117] Further, according to step S44 of flowchart 40, the dependent motion vector generator 112b generates the motion vector MV in the context of the spatial geometric relationship SGR. IRA and environmental signal EI DRA and calculate the motion vector MV DRA , and the independent surgical robot arm actuator 111 generates a motion vector MV DRA Processes and activates command AC DRA Generate.

[0118] Referring to FIG. 16A, an embodiment of a motion-dependent robot controller 104 utilizes components 110-113 to implement flowchart 50 (FIG. 12).

[0119] In particular, according to step S52 of flowchart 50, independent motion vector generator 110a generates an input signal IS IRA1 and calculate the motion vector MV IRA1 , and the independent surgical robot arm actuator 111a generates a motion vector MV IRA1 Processes and activates command AC IRA1 and the independent motion vector generator 110b generates the input signal IS IRA2 and calculate the motion vector MV IRA2 , and the independent surgical robot arm actuator 111b generates a motion vector MV IRA2 Processes and activates command AC IRA2 Generate.

[0120] Further, according to step S54 of flowchart 50, the dependent motion vector generator 112c generates the motion vector MV in the context of the spatial geometric relationship SGR. IRA1 and motion vector MV IRA2 and calculate the motion vector MV DRA , and the independent surgical robot arm actuator 111 generates a motion vector MV DRA Processes and activates command AC DRA Generate.

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

[0122] In particular, according to step S62 of flowchart 60, independent motion vector generator 110a generates an input signal IS IRA1 and calculate the motion vector MV IRA1 , and the independent surgical robot arm actuator 111a generates a motion vector MV IRA1 Processes and activates command AC IRA1 and the independent motion vector generator 110b generates the input signal IS IRA2 and calculate the motion vector MV IRA2 , and the independent surgical robot arm actuator 111b generates a motion vector MV IRA2 Processes and activates command AC IRA2 Generate.

[0123] Further, according to step S64 of flowchart 60, the dependent motion vector generator 112d generates the motion vector MV in the context of the spatial geometric relationship SGR. IRA1 and motion vector MV IRA2 and environmental signal EI DRA and calculate the motion vector MV DRA , and the independent surgical robot arm actuator 111 generates a motion vector MV DRA Processes and activates command AC DRA Generate.

[0124] With reference to FIGS. 1-16, those skilled in the art will appreciate the numerous benefits of the present disclosure, including, but not limited to, improvements to surgical robotic systems in accordance with the present disclosure's inventions in providing intuitive control of multi-robotic arm surgical tasks with reduced need to switch control between robotic arms.

[0125] Furthermore, as those skilled in the art will appreciate in view of the teachings provided herein, the features, elements, components, etc. described in this disclosure / specification and / or depicted in the figures may be implemented in various combinations of electronic components / circuits, hardware, executable software, and executable firmware to provide combinable functionality in a single element or multiple elements. For example, the functionality of the various features, elements, components, etc. shown / illustrated / depicted in the figures may be provided using dedicated hardware or hardware capable of executing software in association with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or by multiple individual processors (some of which may be shared and / or multiplexed). Furthermore, the explicit use of the term "processor" should not be construed to refer exclusively to hardware capable of executing software, but may implicitly include, for example, digital signal processor ("DSP") hardware, memory (e.g., read-only memory ("ROM"), random access memory ("RAM"), non-volatile storage, etc. for storing software), and substantially any means and / or machine (e.g., hardware, software, firmware, circuitry, combinations thereof, etc.) capable of (and / or configurable to) execute and / or control a process.

[0126] Moreover, all statements herein reciting principles, aspects, and embodiments of the present invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Moreover, such equivalents are intended to include both currently known equivalents and equivalents developed in the future (e.g., any developed elements that can perform the same or substantially similar function, regardless of structure). Thus, for example, those skilled in the art with access to the teachings provided herein will understand that the block diagrams presented herein may represent conceptual views of illustrative system components and / or circuitry embodying the principles of the present invention. Similarly, those skilled in the art with access to the teachings provided herein will understand that any flowcharts, flow diagrams, and the like, may be tangibly represented in a computer-readable storage medium and may represent various processes that may be performed by a computer, processor, or other device having processing capabilities, whether or not a computer or processor is explicitly shown.

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

[0128] Although preferred exemplary embodiments of a novel and inventive image-guided motion scale have been described (the embodiments are intended to be illustrative and not limiting), it should be noted that modifications and variations may occur to those skilled in the art having access to the teachings provided herein, including the drawings. Accordingly, it should be understood that changes can be made to the preferred exemplary embodiments of the present disclosure that are within the scope of the embodiments disclosed herein.

[0129] Additionally, corresponding and / or related systems that incorporate and / or implement or that may be used / implemented in devices according to the present disclosure are also considered within the scope of the present disclosure, as are corresponding and / or related methods for making and / or using devices and / or systems according to the present disclosure.

Claims

1. an independent robotic arm; A dependent robotic arm; a motion-dependent robot controller in communication with the independent robot arm and the dependent robot arm; 1. A motion-dependent surgical robotic system comprising: the motion-dependent robot controller controls the movement of the independent robot arm within a coordinate space in response to input signals indicative of the movement of the independent robot arm within the coordinate space; the motion-dependent robot controller further controls the motion of the dependent robot arm within the coordinate space as a function of a spatial geometric relationship between the independent robot arm and the dependent robot arm within the coordinate space. In a motion-dependent surgical robotic system, A motion-dependent surgical robotic system, wherein the orientation of the dependent robotic arm in the coordinate space is independent of the orientation of the independent robotic arm in the coordinate space.

2. The motion-dependent surgical robotic system of claim 1 , wherein a linear vector defines the spatial geometric relationship between the independent robotic arm and the dependent robotic arm in the coordinate space.

3. the linear vector has a variable magnitude; and the direction of the linear vector is one of: parallel to an axis of the coordinate space, a direction from the independent robot arm to the dependent robot arm across the plane of the coordinate space, or radial to the center of a sphere in the coordinate space; 3. The dependent surgical robotic system of claim 2, wherein:

4. the linear vector has a variable magnitude; and the direction of said linear vector is transverse to a plane of said coordinate space; 3. The motion-dependent surgical robotic system of claim 2, wherein the motion-dependent surgical robotic system is one of:

5. The motion-dependent robot controller an independent motion vector generator responsive to input signals indicative of the movement of the independent robotic arms within a coordinate space to generate independent motion vector signals for controlling the movement of the independent robotic arms within the coordinate space; an independent robot arm actuator that generates independent actuation commands beneficial to the movement of the independent robot arm within the coordinate space in response to generation of the independent motion vector signal by the independent motion vector generator; a dependent motion vector generator that generates a dependent motion vector signal for controlling the movement of the dependent robot arm in the coordinate space as a function of the spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space; a dependent robot arm actuator that generates actuation commands beneficial to the movement of the dependent robot arm within the coordinate space in response to generation of the dependent motion vector signal by the dependent motion vector generator; 10. The motion-dependent surgical robotic system of claim 1, comprising:

6. the independent motion vectors include at least one of a magnitude and a direction that indicate a position of the independent robotic arms within the coordinate space; the dependent motion vector includes at least one of a magnitude and a direction that indicates a location of the dependent robot arm within the coordinate space; The motion-dependent surgical robotic system of claim 5.

7. the independent motion vectors include at least one of a magnitude and a direction indicative of a velocity of the independent robotic arms within the coordinate space; the dependent motion vector includes at least one of a magnitude and a direction indicating a velocity of the dependent robot arm within the coordinate space; The motion-dependent surgical robotic system of claim 5.

8. A motion-dependent robot controller in communication with an independent robot arm and a dependent robot arm, comprising: an independent motion vector generator responsive to input signals indicative of movement of the independent robotic arms within a coordinate space to generate independent motion vector signals for controlling the movement of the independent robotic arms within the coordinate space; an independent robot arm actuator that generates independent actuation commands beneficial to the movement of the independent robot arm within the coordinate space in response to generation of the independent motion vector signal by the independent motion vector generator; a dependent motion vector generator that generates dependent motion vector signals for controlling movement of the dependent robot arm in the coordinate space as a function of a spatial geometric relationship between the independent robot arm and the dependent robot arm in the coordinate space; a dependent robot arm actuator that generates actuation commands beneficial to the movement of the dependent robot arm within the coordinate space in response to generation of the dependent motion vector signal by the dependent motion vector generator; 1. A motion-dependent robot controller comprising: A motion-dependent robot controller, wherein the orientation of the dependent robot arm in the coordinate space is independent of the orientation of the independent robot arm in the coordinate space.

9. the independent motion vectors include at least one of a magnitude and a direction that indicate a position of the independent robotic arms within the coordinate space; the dependent motion vector includes at least one of a magnitude and a direction that indicates a location of the dependent robot arm within the coordinate space; The motion-dependent robot controller of claim 8 .

10. the independent motion vectors include at least one of a magnitude and a direction indicative of a velocity of the independent robotic arms within the coordinate space; the dependent motion vector includes at least one of a magnitude and a direction indicating a velocity of the dependent robot arm within the coordinate space; The motion-dependent robot controller of claim 8 .

Images