Virtual spring on the translational axes for software remote center

Abstract

Systems and methods are described for controlling positioning of a remote center position associated with a subject via a repositionable structure configured to support an instrument and maintain a remote center at a fulcrum point. The method may include: detecting, via kinematic data associated with the repositionable structure, a shift associated with the remote center position relative to the fulcrum point, generating a control signal to control the repositionable structure to respond to the detected shift, wherein generating the control signal includes: applying a spring equation to scale a response that maintains the remote center position such that one or more components of the repositionable structure maintain the remote center position within a predetermined range of motion from the fulcrum point, and transmitting the control signal to the repositionable structure.

Description

Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PCVIRTUAL SPRING ON THE TRANSLATIONAL AXES FOR SOFTWARE REMOTE CENTERCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of the filing date of provisional U.S. Patent Application No. 63 / 680,303 entitled “VIRTUAL SPRING ON THE TRANSLATIONAL AXES FOR SOFTWARE REMOTE CENTER,” filed on August 7, 2024. The entire contents of the provisional application are hereby expressly incorporated herein by reference.FIELD

[0002] Disclosed examples relate to guided robotic control manipulator systems. In particular, the disclosed examples relate to systems and methods for maintaining a remote center associated with an instrument of the robotic control manipulator system using a virtual spring equation.BACKGROUND

[0003] Computer-assisted manipulator systems (“manipulator systems”), sometimes referred to as robotically assisted systems or robotic systems, may include one or more manipulators that can be operated with the assistance of an electronic controller (e.g., computer) to move and control functions of one or more instruments coupled to the manipulators. A manipulator generally includes mechanical links connected by joints. An instrument is removably (or permanently) coupled to one of the links, typically a distal link of the plural links.

[0004] An important aspect of utilizing computer-assisted manipulator systems is the ability for the manipulator system to control a minimally invasive instrument after insertion to a target. In particular, an instrument inserted in a remote center (e.g., an incision or other such entry point) should be carefully controlled to ensure that unexpected damage is not done to the surface of the target. For example, a laparoscopic instrument inserted into a remote center on a human patient may be malleable, and therefore the remote center tends to drift from its initial fulcrum point. Conventional systems may exert a countervailing force on the instrument to rigidly maintain the remote center at the initial fulcrum point. Because the skin of the patient is taut during this process, the countervailing forces may cause discomfort or potentially harm the patient. These forces may be exacerbated in procedures involving rigid instruments.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC

[0005] Accordingly, a need exists for improved manipulator systems with an ability to permit controlled movement of a remote center, and to therefore less forcefully return a remote center to its initial fulcrum point.SUMMARY

[0006] The following presents a simplified summary of various examples described herein and is not intended to identify key or critical elements or to delineate the scope of the claims.

[0007] In some examples, a computer-assisted system for controlling positioning of a remote center position is provided. The computer-assisted system may comprise: a repositionable structure configured to (i) support an instrument and (ii) maintain a remote center at a fulcrum point associated with a port via which the instrument is inserted; and a control system operably coupled to the repositionable structure, the control system configured to: detect, via kinematic data associated with the repositionable structure, a shift associated with the remote center position relative to the fulcrum point; generate a control signal to control the rcpositionablc structure to respond to the detected shift, wherein generating the control signal includes: applying a spring equation to scale a response that maintains the remote center position such that one or more components of the repositionable structure maintain the remote center position within a predetermined range of motion from the fulcrum point; and transmit the control signal to the repositionable structure.

[0008] In further examples, a computer-implemented method for controlling positioning of a remote center position associated with a subject via a repositionable structure configured to support an instrument and maintain a remote center at a fulcrum point associated with a port via which the instrument is inserted is provided. The computer-implemented method may comprise: detecting, by one or more processors of a control system and via kinematic data associated with the repositionable structure, a shift associated with the remote center position relative to the fulcrum point; generating, by the one or more processors of the control system, a control signal to control the repositionable structure to respond to the detected shift, wherein generating the control signal includes: applying, by the one or more processors of the control system, a spring equation to scale a response that maintains the remote center position such that one or more components of the repositionable structure maintain the remote center position within a predetermined range ofIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC motion from the fulcrum point; and transmitting, by the one or more processors of the control system, the control signal to the rcpositionablc structure.

[0009] In still further examples, a non-tangible computer-readable medium storing instructions for controlling positioning of a remote center position associated with a subject is provided. The instructions, when executed, may cause one or more processors of a control system to perform any of the methods described herein.

[0010] It is to be understood that both the foregoing general description and the following detailed description are illustrative and explanatory in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. In that regard, additional aspects, features, and advantages of the present disclosure will be apparent to one skilled in the art from the following detailed description.BRIEF DESCRIPTIONS OF THE DRAWINGS

[0011] FIG. 1 is a schematic diagram for a robotically-assisted manipulator system for controlling operation of an instrument supported by a repositionable structure and moving the instrument back to a fulcrum point for a remote center using a virtual spring equation, according to some examples.

[0012] FIG. 2 is a diagram of a remote center manipulator, in accordance with many embodiments, that is operable to reorient linkage assemblies of the manipulator and / or a remote center of manipulation.

[0013] FIG. 3A is a schematic illustration of an instrument coordinate frame, implemented in conjunction with a manipulator system of FIG. 1.

[0014] FIG. 3B is a schematic illustration of an instrument shaft moving according to a virtual spring within and around a minimally invasive access site (e.g., a remote center), implemented in conjunction with a manipulator system of FIG. 1.

[0015] FIG. 4 is an example flow diagram of an example method for controlling operation of an instrument supported by a repositionable structure and controlling positioning of a remote center position according to a virtual spring, according to some examples.

[0016] Examples of the present disclosure and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals arcIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC used to identify like elements illustrated in one or more of the figures, wherein showings therein arc for purposes of illustrating examples of the present disclosure and not for purposes of limiting the same.DETAILED DESCRIPTION

[0017] In the following description, specific details are set forth describing some examples consistent with the present disclosure. Numerous specific details are set forth in order to provide a thorough understanding of the examples. It will be apparent, however, to one skilled in the art that some examples may be practiced without some or all of these specific details. The specific examples disclosed herein are meant to be illustrative but not limiting. One skilled in the art may realize other elements that, although not specifically described here, are within the scope and the spirit of this disclosure. In addition, to avoid unnecessary repetition, one or more features shown and described in association with one example may be incorporated into other examples unless specifically described otherwise or if the one or more features would make an example nonfunctional. In some instances, well known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the examples.

[0018] This disclosure describes various instruments and portions of instruments in terms of their state in three-dimensional space. The instruments may be any sort of instrument used to perform a procedure as described herein (e.g., a flexible instrument, a semi-rigid instrument, a rigid instrument, etc.). As used herein, the term “position” refers to the location of an object or a portion of an object in a three-dimensional space (e.g., three degrees of translational freedom along Cartesian x-, y-, and z-coordinates). As used herein, the term “orientation” refers to the rotational placement of an object or a portion of an object (e.g., one or more degrees of rotational freedom such as, roll, pitch, and yaw). As used herein, the term “pose” refers to the position of an object or a portion of an object in at least one degree of translational freedom and to the orientation of that object or portion of the object in at least one degree of rotational freedom (e.g., up to six total degrees of freedom). As used herein, the term “shape” refers to a set of poses, positions, and / or orientations measured along an object. As used herein, the term “distal” refers to a position that is closer to a procedural site and the term “proximal” refers to a position that is further from the procedural site. Accordingly, the distal portion or distal end of an instrument is closer to a procedural site than a proximal portion or proximal end of the instrument when the instrument is being used as designed to perform a procedure.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC

[0019] This disclosure occasionally refers to the disclosed techniques being applied to “patients” undergoing a “medical procedure.” It should be appreciated that these references arc not intended to limit the application of the disclosed techniques to applied medicine contexts. For example, the described techniques can be applied to facilitate physician training, equipment testing and / or calibration, and / or other contexts. Accordingly, any reference to the term “patient” is done for ease of explanation and also envisions the application of the described techniques to a generic “subject” or “target.”

[0020] Aspects of this disclosure herein can be part of a computer-assisted manipulator system, sometimes re I erred to as a robotically-assisted manipulator system or a robotic system. The manipulator system can include one or more manipulators that can be operated manually and / or with the assistance of an electronic controller (e.g., computer) to move and control functions of one or more instruments when coupled to the manipulators. Embodiments where a manipulator system is electronically controlled, at least in part, may be referred to as a teleoperational manipulator system.

[0021] FIG. 1 illustrates an embodiment of a table-mounted manipulator system 100 (“system 100”) for performing procedures via a control system 1006 that operates one or more components of the system 100 according to one or more software-defined algorithms. In particular, the control system 1006 may operate one or more manipulators of the system 100 such that an instrument associated with the system 100 may move within a remote center in accordance with a virtually defined spring equation (also referred to herein as a “virtual spring”). The system 100 includes a table assembly 101, at least one rail assembly 120 coupled to the table assembly, and one or more manipulators 140 (also referred to as “repositionable structures”), coupled to each rail assembly 120 and controlled by one or more control boards 170. Each manipulator 140 can support one or more instruments 150, which can be removably or permanently mounted thereon. As shown in FIG. 1, the system 100 also can include the control system 1006, a user input and feedback system 1004, and / or an auxiliary system 1008. In some embodiments, the system 100 is configured as a computer-assisted, teleoperable medical system, in which case table assembly 101 can be configured to support a patient (not shown) and the instruments 150 can be medical instruments. The system 100 in this configuration can be usable, for example, to perform any of a variety of medical procedures, such as surgical procedures, diagnostic procedures, imaging procedures, therapeutic procedures, etc. Moreover, the system 100, when configured as a teleoperable medicalIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC system, need not necessarily be used on a living human patient. For example, a non-human animal, a cadaver, tissuc-likc materials used for training purposes, and so on, can be supported on the table assembly 101 and worked on by system 100. In other embodiments, the system 100 is configured as a computer-assisted teleoperable system for use in non-medical contexts, in which case the table assembly 101 can be configured to support an inanimate workpiece (something being manufactured, repaired, tested, etc.) and the instruments 150 can be non-medical instruments, such as industrial instruments.

[0022] As shown in FIG. 1, the table assembly 101 includes a platform assembly 110 configured to support the patient, inanimate workpiece, or other such target; a support column 102 coupled to and supporting the platform assembly 1 10; and a base 105 coupled to the support column 102. The base can be configured to contact the ground or other surface upon which the table assembly 101 rests to provide stability for the table assembly 101. In some embodiments, the base 105 is omitted. In some embodiments, the base 105 includes mobility features, such as wheels, tracks, or other such features (not shown), to allow movement of the table assembly 101 along the ground or other surface. In FIG. 1, the support column 102 is illustrated as a single vertical columnar part to simplify the discussion, but the support column 102 could take any desired shape and could include any number of parts. For example, the support column 102 can include horizontal support structures (not illustrated) such as beams, rails, etc. to couple the platform assembly 110 to a vertical portion of the support column 102. Moreover, in various embodiments, the support column 102 can be telescoping and configured to extend and contract in height.

[0023] The platform assembly 110 includes one or more platform sections 103 to support the patient or workpiece. The platform sections 103 each have a support surface configured to contact and support the patient or workpiece. In some embodiments multiple platform sections 103 are used and the platform sections 103 are arranged in series to support different portions of the patient or workpiece. For example, in the embodiment illustrated in FIG. 1, the platform assembly 110 includes a first end section 103_l, one or more middle sections 103_2, and a second end section 103_3 (which may generally or collectively be referred to herein as “platform sections 103”), with the one or more middle sections 103_2 being arranged between the two end sections 103_l and 103_3. In some embodiments, the first end section 103_l can be configured to support a head of the patient, the second end section 103_3 can be configured to support the feet and / or legs of the patient, and the one or more middle sections 103_2 can be configured to support a torso and / orIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC other portions of the patient. For convenience, the side of the platform assembly 110 that is near the first end section 103_l (c.g., a left side in the orientation shown in FIG. 1) will be referred to herein as a “head” of the platform assembly 110 (or “head side” or “head end”) and the side of the platform assembly 110 that is near the second end section 103_3 (e.g., a right side in the orientation shown in FIG. 1) will be referred to herein as a “foot” of the platform assembly 110 (or “foot side” or “foot end”), but this is merely an arbitrary convention chosen herein for convenience of description and is not intended to limit the configuration or usage of the table assembly 101 (e.g., a head of a patient could be positioned at the “foot” side of the platform assembly 110 if desired, and vice versa). The relative positions of two components or of two portions of a single component can also be described using “head” and “foot” (e.g., a “head end” and a “foot end” of a rail 121) with “head” referring to the component or portion that is relatively closer to the head end of the table assembly 101 and “foot” referring to the component or portion that is relative closer to the foot end of the table assembly 101. In other embodiments, different numbers and arrangements of platform sections 103 are used, including one, two, four, or more platform sections 103. In some embodiments, one or more of the platform sections 103 can be movable relative to other platform sections 103 and / or relative to the support column 102. For example, in some embodiments, some or all of the platform sections 103 are coupled to adjacent platform sections 103 and / or to the support column 102 by rotatable joints such that at least some of the platform sections 103 can tilt relative to one another and / or relative to the support column 102. The platform assembly 110 can also be movable as a whole relative to the support column 102, as described in greater detail below.

[0024] The platform assembly 110 has a longitudinal dimension 198 (e.g., parallel to the x-axis in FIG. 1), a lateral dimension orthogonal to the longitudinal dimension (e.g., parallel to the y-axis in FIG. 1), and a thickness or height dimension orthogonal to both the longitudinal dimension 198 and lateral dimension (e.g., parallel to the z-axis in FIG. 1). As used herein, the longitudinal dimension 198 refers to a dimension of greatest extent of the platform assembly 110 when all of the platform sections 103 of the platform assembly are fully extended and all are oriented with their support surfaces roughly aligned in a same plane with one another (or when as close to this state as possible) so as to collectively form a combined support surface that is substantially planar with potentially small gaps between adjacent platform sections 103. In general, the longitudinal and lateral dimensions of the platform assembly 110 and the support surfaces of the platform sections 103 are oriented roughly parallel to the ground or other surface on which the tableIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC assembly 101 is supported when the platform assembly 110 is in a neutral configuration. However, one of ordinary skill in the art would understand that the platform assembly 110 as a whole and / or individual platform sections 103 thereof do not necessarily have to be parallel to the ground, and that one or both of the longitudinal and / or lateral dimensions can be tilted relative to the ground in various configurations through which the platform assembly 110 and / or platform section 103 can be movable, including in a neutral configuration in some cases. The platform assembly 110 and the various platform sections 103 thereof have various sides or faces that extend along the longitudinal dimension 198 or lateral dimension, and these can be referred to herein as longitudinally extending sides (or faces) and laterally extending sides (or faces), respectively. Specifically, a longitudinally extending side (or face) is a side (or face) of the platform assembly 110 or of a platform section 103 that extends along the longitudinal dimension 198 of the platform assembly 110 (i.e., along an x-direction in FIG. 1). For example, one longitudinally extending side 109b of the platform assembly 1110 is indicated in FIG. 1. Similarly, a laterally extending side (or face) is a side (or face) of the platform assembly 110 or of a platform section 103 that extends along the lateral dimension of the platform assembly 110 (i.e., along a y-direction in FIG. 1). For example, two laterally extending sides 109a of the platform assembly 110 are indicated in FIG. 1. At least one of the platform sections 103 is directly coupled to and supported by the support column 102. The remaining platform sections 103 can be coupled directly to the support column 102 or they can be coupled indirectly to the support column 102 via a chain of one or more intervening platform sections 103. For example, in some embodiments a main platform section 103 (e.g., a middle section 103_2) is coupled to and directly supported by the support column 102 and the others of the platform sections 103 (e.g., end sections 103_l and 103_3) are coupled to the main platform section 103 or to another platform section 103. As another example, in some embodiments multiple platform sections 103 (all in some embodiments) are coupled directly to the support column 102 and not to another platform section 103.

[0025] In various embodiments, some or all of the above-described parts of the table assembly 101 can be movable relative to one another. For example, in some embodiments, the platform assembly 110 as a whole can be moved relative to the support column 102, such as by tilting around a horizontal axis, swiveling around a vertical axis, translating vertically along the support column 102, translating horizontally relative to the support column 102, and so on. In some embodiments, such movement of the platform assembly 110 as a whole can be provided by one orIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC more joints that couple a main platform section 103 (e.g., a middle section 103_2) to the support column 102. Furthermore, as already noted above, individual platform sections 103 can be movable relative to one another and relative to the support column 102 as well, which can be facilitated by joints coupling the platform sections 103 to the support column 102 or to adjacent platform sections 103.

[0026] In some embodiments, the platform assembly 110 also includes one or more accessory rails 104. The accessory rails 104 can be configured to receive accessory devices removably mounted thereon, such as leg stirrups, liver retractors, arm boards, and bed extenders. In some embodiments, the accessory rails 104 adhere to industry standard specifications familiar to those of ordinary skill in the art to allow compatibility with accessory devices compliant with the standard. The accessory rails 104 can be attached to longitudinally extending side faces of one or more of the platform sections 103. One or more openings can be defined between an accessory rail 104 and the side face of the platform section 103 to which the accessory rail 104 is attached and portions of accessories mounted to the accessory rail 104 can be inserted through the openings.

[0027] As noted above, the manipulator system 100 also includes one or more manipulators 140, controlled by one or more control boards 170 (e.g., in conjunction with the control system 1006). While FIG. 1 illustrates two manipulators 140, any number of manipulators 140 can be included (such as, for example, one, two, three, or more manipulators mounted to each rail assembly 120, as described in further detail below). A manipulator 140 can include a kinematic structure of links coupled together by one or more joints. Specifically, the manipulators 140 each include a proximal link assembly including a proximal arm 141 movably coupled to the rail assembly 120 via one or more proximal arm joints 130, an intermediate link assembly including an intermediate arm 142 movably coupled to the proximal link assembly via one or more intermediate arm joints 145, and a distal link assembly including a distal arm 143 movably coupled to the intermediate link assembly by one or more distal arm joints 146. The distal link assembly can also include an instrument holding portion 169 coupled to the distal arm 143 and configured to carry the instrument 150.

[0028] The manipulators 140 are movable through various degrees of freedom of motion provided by various joints, including the proximal, intermediate, and distal arm joints 130, 145, and 146, thus allowing an instrument 150 mounted thereon to be moved relative to the worksite.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PCSome of the joints can provide for rotation of links relative to one another, other joints can provide for translation of links relative to one another, and some can provide for both rotation and translation. In particular, in some embodiments, the proximal arm 141 is rotatably coupled to the rail 121 via a first proximal arm joint 130a, which provides for rotation of the proximal arm 141 relative to the rail 121 around a first axis 136 that is perpendicular to a longitudinal dimension 197 of the rail 121 (e.g., perpendicular to the x-direction in FIG. 1). In a neutral state of the proximal arm 141, the first axis 136 is also perpendicular to a lateral dimension of the rail 121 (e.g., perpendicular to the y-direction in FIG. 1), and thus in this state the first axis 136 is oriented vertically (i.e., perpendicular to the aforementioned horizontal plane, or in other words oriented in the z-direction in FIG. 1). In addition, in a neutral state of the table assembly 101, in which the platform assembly 110 is parallel to the ground and the rail 121 (i.e., an x-direction in the orientation of FIG. 1), the first axis 136 is also perpendicular to the longitudinal dimension 198 of the platform assembly 110, but this is not necessarily the case in other states (e.g., states in in which the platform assembly 110 is tilted relative to the rail 121, which can be possible in some embodiments).

[0029] In some embodiments, the proximal link assembly of certain manipulators 140 is configured to allow for rotation of the proximal arm 141 about a second axis 137, in addition to allowing for rotation about the first axis 136, with the second axis 137 being orthogonal to the first axis 136. In some embodiments, the rotation about the second axis 137 can be provided by a second proximal arm joint 130b included in the proximal link assembly. In particular, in some embodiments the proximal link assembly of certain of the manipulators 140 further includes a second proximal arm joint 130b, and the first and second proximal arm joints 130a and 130b together couple the proximal arm 141 to the rail 121, with the second proximal arm joint 130b providing for rotation of the proximal arm 141 relative to the rail 121 around a second axis 137 orthogonal to the first axis 136 and parallel to a longitudinal dimension 197 of the rail 121 (e.g., x-direction in FIG. 1). In some embodiments, the second proximal arm joint 130b is coupled between the rail 121 and the first proximal arm joint 130a, while in other embodiments the second proximal arm joint 130b is coupled between the first proximal arm joint 130a and the proximal arm 141 (not shown in FIG. 1 ). In still other embodiments, the rotation about the second axis 137 is provided by the first proximal arm joint 130a without the addition of a second proximal arm joint (e.g., the first proximal arm joint 130a is configured to provide rotation about multiple axes,Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC such as a ball-and-socket joint). The longitudinal dimension 197 and, hence, the second axis 137 arc parallel to the ground in some embodiments. In some embodiments, in the neutral state of the table assembly 101, the second axis 137 is also parallel to the longitudinal dimension 198 of the platform assembly 110. In some such embodiments, the second axis 137 is not parallel to the longitudinal dimension 198 of the platform assembly 110 in other states (e.g., states in in which the platform assembly 110 is tilted relative to the rail 121, which can be possible in some embodiments). Rotation of the proximal arm 141 around the second axis 137 (e.g., via the second proximal arm joint 130b) causes the proximal ami 141 to incline or decline relative to the horizontal plane, thus raising or lowering a distal end of the proximal arm 141 relative to the rail 121. In addition, as the proximal arm 141 inclines relative to the horizontal plane, movement of the proximal arm 141 can cause more distal portions of the manipulator 140 to correspondingly both raise and extend further across the table (as opposed to vertical movement alone).

[0030] In some embodiments, the rotation about the second axis 137 (e.g., via second proximal arm joint 130b) allows the proximal arm 141 to be moved between orientations ranging at least between a horizontal orientation and a vertical inclined orientation (e.g., at least 90 degrees of rotation). In some embodiments, rotation about the second axis 137 (e.g., via the second proximal arm joint 130b) can also allow for rotation of the proximal arm 141 to orientations that are declined relative to a horizonal orientation. In some embodiments, certain manipulators 140 are provided with the ability to rotate about the second axis 137 (e.g., via the second proximal arm joint 130b) while others are not. For example, in some embodiments a first manipulator 140 whose proximal arm 141 is positionable under a second manipulator 140 in a nested configuration (e.g., as described in more depth below) can be provided with the second proximal arm joint 130b (e.g., because the lower positioning of the proximal arm 141 makes room for the proximal arm joint 130b), while a second proximal arm joint 130b can be omitted in the second manipulator 140 (e.g., because the higher positioning of the proximal arm 141 of the second manipulator 140 does not leave sufficient room for the second joint). In other embodiments (not illustrated), coupled to a same rail 121 all of the manipulators 140 (or all manipulators 140 in the system 100, in some embodiments) are provided with the ability to rotate about the second axis 137 (e.g., via second proximal arm joints 130b). In still other embodiments (not illustrated), none of the manipulators 140 coupled to a given rail 121 (or none of the manipulators 140 in the entire system 100, in some embodiments) are provided with the ability to rotate about the second axis 137.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC

[0031] In addition, in some embodiments, the proximal arm 141 is extendable and retractable. For example, the proximal arm 1 1 can include two or more links that arc translatable relative to one another in a telescoping fashion to extend or retract the proximal arm 141. In other words, these two or more links are coupled together by, or they themselves form, a prismatic joint. For example, in some embodiments the proximal arm 141 includes an outer link that has a bore (for example an axial bore extending along a longitudinal axis of the proximal arm 141) and an inner link that is nested within the outer link in the bore thereof.

[0032] In some embodiments, the intermediate arm 142 can be rotatably coupled to the distal end portion of the proximal arm 141 via one or more intermediate rotary joints 145. For example, the intermediate arm joints 145 can provide for rotation of the intermediate arm 142 relative to the proximal arm 141 about a third axis (not illustrated) perpendicular to the intermediate arm 142 and the proximal arm 141. In addition, in some embodiments, the intermediate arm joints 145 can provide for rotation of a distal end of the intermediate arm 142 relative to the proximal arm 141 about an axis that is parallel to a longitudinal dimension of the intermediate arm 142. In some embodiments, the intermediate arm 142 is also extendable and retractable. For example, the intermediate arm 142 can include two or more links that are translatable relative to one another in a telescoping fashion to extend or retract the intermediate arm 142, in a manner similar to that described above in relation to proximal arm 141. In some embodiments, the links of the intermediate arm 142 are both translatable relative to one another along a longitudinal dimension of the intermediate arm 142 and also rotatable relative to one another about an axis parallel to the longitudinal dimension of the intermediate arm 142, thus providing for the above-described rotation of the distal end of the intermediate arm 142 relative to the proximal arm 141 about the axis that is parallel to a longitudinal dimension of the intermediate arm 142.

[0033] Moreover, in some embodiments, the distal arm 143 is movably coupled to the instrument holding portion 169 via a wrist 147, which includes joints for moving the instrument holding portion 169 relative to the distal arm 143. The joints of the wrist 147 can be referred to herein as wrist joints. In some embodiments, the wrist 147 provides multiple rotational degrees of freedom motion. For example, in some embodiments the wrist 147 has three rotational degrees of freedom of motion for the instrument holding portion 169 relative to the distal arm 143. For example, the wrist 147 can be rotatably coupled to the distal arm 143 to provide a roll degree of freedom of motion including rotation of the wrist 147 as a whole about an axis parallel to the distalIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC arm 143, and the wrist 147 can further include two joints for providing yaw and pitch degrees of freedom of motion including rotation around pitch and yaw axes which arc perpendicular to one another. One of the pitch and yaw axes is also perpendicular to the roll axis (the other of the pitch and yaw axes can also be perpendicular to the roll axis in a neutral state of the wrist 147, but not necessarily in other states). In some embodiments, the joints providing some of the degrees of freedom of motion of the wrist 147 (e.g., yaw and pitch, in some embodiments) are driven by actuators disposed remotely from the wrist 147, such as in a more proximal portion of the manipulator 140 with actuation elements (such as cables, filaments, belts, bands, linkages, etc.) extending from the actuators to the wrist 147 to drive the motion of the wrist. For example, in some embodiments, the wrist includes two wrist joints disposed in the wrist that provide rotation about the yaw and pitch axes, and these two wrist joints can be coupled to actuation elements (e.g., cables) that drive the rotation. In some embodiments, the actuators that drive the wrist 147 are positioned in the distal arm 143. Disposing the actuators remotely from the wrist 147 allows the wrist 147 to be more compact. Wrists that are compact, such as the wrists 147, can be positioned more closely to portions of other manipulators 140, in some circumstances, which can allow for greater flexibility in the positioning and posing of the manipulators 140. Moreover, placing the actuators in a more proximal portion of the manipulators 140, such as in the distal arm 143, moves the weight of the actuators closer to a proximal end of the kinematic chain that makes up the manipulator 140, thus reducing the moment arm (leverage) created by the weight of the actuators.

[0034] Some or all of the joints of the system 100 described above (as well as other joints that might be present in the system) can be powered joints, meaning a powered drive element (also referred to as a “driver” herein) can control movement of the joint through the supply of motive power. Such powered drive elements can include, for example, electric motors, pneumatic or hydraulic actuators, and other types of powered drive elements those having ordinary skill in the art would be familial' with. In some embodiments, the joints of the wrist 147 are powered joints. Additionally, in some embodiments some of the joints of the system 100 can be manually articulable (e.g., unpowered) joints, which can be articulated manually for example by manually moving the links coupled thereto. Joints referred to herein as unpowered can lack powered drive elements to drive articulation of the joint but still can include other powered aspects or devices, such as electronically (or hydraulically / pneumatically, etc.) controlled brakes, sensors (e.g., position, velocity, force, torque sensors), or other powered devices. Additionally, in someIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC embodiments some of the joints of the system 100 can be partially powered and partially manually articulable — for example powered elements such as motors can assist manipulation, such as by compensating for gravity loads, friction, etc., but some manual force input can also be used to cause the articulation. Additionally, some joints (whether powered or not) can also be passively counterbalanced (e.g., via masses or springs). Certain joints can be actively controllable during performance of a procedure, for example, under the control of one or more control boards 170 communicatively coupled to a control system 1006 and in response to inputs recited at a user input and feedback system 1004. Other joints, sometimes referred to as setup joints, can be articulated during a setup phase in preparation for performance of the procedure but can generally remain more-or-less stationary during performance of the procedure. Setup joints can be powered, manually articulable, or partially powered. For example, in some embodiments, the proximal arm joints 130 and the prismatic joint that provides extension of the proximal arm 141 are setup joints.

[0035] As noted above, the instrument holding portion 169 is configured to support an instrument 150, and in some embodiments the instrument holding portion 169 includes a drive interface to removably couple the instrument 150 and to provide driving inputs (e.g., mechanical forces, electrical inputs, etc.) to drive the instrument 150. For example, the drive interface can include output couplers (not illustrated) to engage (directly or indirectly via an intermediary) with input couplers (not illustrated) of the instrument 150 to provide driving forces or other inputs to the mounted instrument 150 to control various degree of freedom movement and / or other functionality of the instrument 150, such as moving an end-effector of the instrument, opening / closing jaws, driving translation and / or rotation of a variety of components of the instrument, delivery of substances and / or energy from the instrument, and various other functions those of ordinary skill in the art are familiar with. The output couplers can be driven by actuators (e.g., electrical servo-motors, hydraulic actuators, pneumatic actuators) with which those of ordinary skill in the art have familiarity. An instrument sterile adaptor (ISA) can be disposed between the instrument 150 and the instrument manipulator mount interface to maintain sterile separation between the instrument 150 and the manipulator 140. The instrument manipulator mount can also include other interfaces (not illustrated), such as electrical interfaces to provide and / or receive electrical signals to / from the instrument 150. The instruments 150 can include any tool or instrument, including, for example, industrial instruments and medical instruments (e.g., surgical instruments, imaging instruments, diagnostic instruments, therapeutic instruments, etc.).Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PCIn some embodiments, the system 100 can include flux delivery transmission capability as well, such as, for example, to supply electricity, fluid, vacuum pressure, light, electromagnetic radiation, etc. to the end effector. In other embodiments, such flux delivery transmission can be provided to an instrument through another auxiliary system 1008, described further below and as those of ordinary skill in the art would be familiar with in the context of computer-assisted, teleoperated medical systems.

[0036] It will be understood that the manipulators 140 may move the instrument 150 relative to an insertion point, such as a remote center, in accordance with a virtual spring equation. The instrument 150 movement with regard to the remote center is described in more detail below with regard to FIGs. 2-3B. Further, additional details relating to the manipulators are described below with reference to FIG. 2, which illustrate various embodiments of the manipulators 140. Moreover, in some embodiments, aspects of the manipulators 140 can be similar to the manipulators described in US Provisional Patent Application No. 63 / 336,773, entitled “RAIL ASSEMBLY FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” inventor Ryan Abbott, filed April 29, 2022; in US Provisional Patent Application No. 63 / 336,778, entitled “NESTING PROXIMAL LINKS FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” first named inventor Bram Lambrecht, filed April 29, 2022; or those described in, for example, U.S. Patent No. 9,358,074 (filed May 31, 2013) to Schena et al., entitled “Multi-Port Surgical Robotic System Architecture,” U.S. Patent No. 9,295,524 (filed May 31, 2013) to Schena et al., entitled “Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator,” and U.S. Patent No. 8,852,208 (filed August 12, 2010) to Gomez et al., entitled “Surgical System Instrument Mounting,” WO International Publication Number 2023 / 212344 Al (filed April 28, 2023) entitled “TABLE-MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” first named inventor Steven Manuel, the contents of each of which are incorporated herein by reference in their entirety. Various other embodiments of manipulators can include those as configured as part of the medical systems that are pat of various da Vinci® Surgical Systems, such as the da Vinci X®, da Vinci Xi®, and da Vinci SP systems, commercialized by Intuitive Surgical, Inc., of Sunnyvale, California.

[0037] The number, locations, and types of links, joints, and control boards of the manipulators, as well as the various degrees of freedom of motion thereof, are not limited to those describedIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC above. In some embodiments, manipulators include additional links, joints, control boards, and / or degrees of freedom beyond those described above. In other embodiments, manipulators can omit certain of the links, joints, control boards, and / or degrees of freedom described above. Embodiments contemplated herein include embodiments including various combinations of one or more of the links, joints, and degrees of freedom of motion described above.

[0038] In some embodiments, the rail assembly 120 can be similar to the rail assemblies described in US Provisional Patent Application No. 63 / 336,773, entitled “RAIL ASSEMBLY FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” in US Provisional Patent Application No. 63 / 336,778, entitled “NESTING PROXIMAL LINKS FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” and in WO International Publication Number 2023 / 212344 Al (filed April 28, 2023) entitled “TABLE-MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” first named inventor Steven Manuel, each incorporated by reference above.

[0039] The user input and feedback system 1004, control system 1006, and auxiliary system 1008 will be further described. Some or all of these components can be provided at a location remote from the table assembly 101. The user input and feedback system 1004 is operably coupled to the control system 1006 and includes one or more input devices to receive input control commands to control operations of the manipulators 140, instraments 150, rails assembly 120, and / or table assembly 101. Such input devices can include but are not limited to, for example, telepresence input devices, triggers, grip input devices, buttons, switches, pedals, joysticks, trackballs, data gloves, trigger-guns, gaze detection devices, voice recognition devices, body motion or presence sensors, touchscreen technology, or any other type of device for registering user input. In some cases, an input device can be provided with the same degrees of freedom as the associated instrument that they control, and as the input device is actuated, the instrument, through drive inputs from the manipulator assembly, is controlled to follow or mimic the movement of the input device, which can provide the user a sense of directly controlling the instrument. Telepresence input devices can provide the operator with telepresence, meaning the perception that the input devices are integral with the instrument. The user input and feedback system 1004 can also include feedback devices, such as a display device (not shown) to displayIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC images (e.g., images of the workspace as captured by one of the instruments 150), haptic feedback devices, audio feedback devices, other graphical user interface forms of feedback, etc.

[0040] The control system 1006 can control operations of the system 100. In particular, the control system 1006 can send control signals (e.g., electrical signals) to the table assembly 101, rail assembly 120, manipulators 140, control boards 170, and / or instruments 150 to control movements, provide status indications, and / or perform other operations of the various pails. In some embodiments, the control system 1006 can also control some or all operations of the user input and feedback system 1004, the auxiliary system 1008, or other parts of the system 100. The control system 1006 can include an electronic controller to control and / or assist a user in controlling operations of the manipulators 140, and other components of the system 100. The electronic controller includes processing circuitry configured with logic for performing the various operations. The logic of the processing circuitry can include dedicated hardware to perform various operations, software (machine readable and / or processor executable instructions) to perform various operations, or any combination thereof. In examples in which the logic includes software, the processing circuitry can include a processor to execute the software instructions and a memory device that stores the software. The processor can include one or more processing devices capable of executing machine readable instructions, such as, for example, a processor, a processor core, a central processing unit (CPU), a controller, a microcontroller, a system-on-chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), etc. In cases in which the processing circuitry includes dedicated hardware, in addition to or in lieu of the processor, the dedicated hardware can include any electronic device that is configured to perform specific operations, such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), discrete logic circuits, a hardware accelerator, a hardware encoder, etc. The processing circuitry can also include any combination of dedicated hardware and processor plus software.

[0041] Differing degrees of user control versus autonomous control can be utilized in the system 100, and embodiments disclosed herein can encompass fully user-controlled systems, fully autonomously-controlled systems, and systems having any combination of user and autonomous control. For operations that are user-controlled, the control system 1006 generates control signals in response to receiving a corresponding user input command via the user input and feedback system 1004. For operations that are autonomously controlled, the control system 1006 can executeIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC pre-programmed logic (e.g., a software program) and can determine and send control commands based on the programming (e.g., in response to a detected state or stimulus specified in the programming). In some systems, some operations can be user controlled and others autonomously controlled. Moreover, some operations can be partially user controlled and partially autonomously controlled — for example, a user input command can initiate performance of a sequence of events, and then the control system 1006 can perform various operations associated with that sequence without needing further user input.

[0042] Additionally, the control system 1006 may analyze kinematic data associated with the manipulator system 100 and / or the components thereof (e.g., gathered from one or more kinematic data sensors (not shown)) to determine a pose of the various components. For example, in some embodiments, the control system 1006 may register the manipulators 140 and / or the portions thereof with respect to a coordinate system (such as those described elsewhere herein). The control system 1006 may determine a metric based on the kinematic data for performing various operations as described herein.

[0043] FIG. 2 illustrates an embodiment of a software-constrained remote center (RC) manipulator 240_l (such as a manipulator 140 of FIG. 1). It will be understood that, although the exemplary embodiment of FIG. 2 illustrates the manipulator 240_l in a particular configuration, other configurations are envisioned for various other manipulators 240. For example, in some embodiments, the manipulator may be or include a hardware-constrained RC manipulator as detailed with regard to U.S. Patent No. 9,295,524 (filed May 31, 2013) to Schena et al., entitled “Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator,” which is incorporated herein by reference. Similarly, in further embodiments, the manipulator may be or include a different configuration for a software-constrained RC manipulator as detailed with regard to U.S. Patent No. 8,004,229 (filed May 15, 2005) to Nowlin ct al., entitled “Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses,” which is incorporated herein by reference.

[0044] As shown in FIG. 2, the manipulator 240_l includes a proximal link assembly 261 including a proximal arm 241 coupled to the rail assembly 220 via one or more proximal arm joints 230 and a carriage 226, an intermediate link assembly 262 including an intermediate arm 242 coupled to a distal end portion of the proximal link assembly 261 via one or more intermediate arm joints 245, and a distal link assembly 263 including a distal arm 243 coupled to the intermediate link assembly 262 via one orIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC more distal arm joints 246 (e.g., joints 246a and 246b). The distal link assembly 263 also includes an instrument holding portion 269 coupled to the distal arm 243 and configured to support an instrument, such as the instruments 150 illustrated in FIG. 1. Each of the proximal link assembly 261, intermediate link assembly 262, and distal link assembly 263 may include a control board 270 disposed thereon. In some implementations, the manipulator 240_l of FIG. 2 includes two proximal arm joints 230 and associated joint housings 264 and 265. In some embodiments, the manipulators 240 may have a single proximal arm joint.

[0045] Reference is now made to FIGs. 3A and 3B, which illustrate an instrument coordinate frame and an instrument shaft moving in accordance with a virtual spring equation about a minimally invasive access site, respectively. As shown in FIG. 3A, remote center RC is the position relative to the minimally invasive access port at which an instrument shaft moves. Remote center RC may, for example, be calculated by initially determining an original position of the interface between the manipulator instrument 150 and a unit vector Uo which has the same orientation as the instrument shaft. The remote center RC position (x,y,z) values can be derived from various sensors of the manipulator assembly. Referring to FIG. 3A, the instrument can be within a first coordinate frame (x,y,z) which has the angles 04 and 95. The unit vector Uo can be computed by a transformation matrix as described with regard to U.S. Patent No. 8,004,229 (filed May 15, 2005) to Nowlin et al., entitled “Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses,” which is incorporated herein by reference.

[0046] While moving a manipulator (e.g., manipulator 140, 240, etc.) and / or an instrument associated with the manipulator (e.g., instrument 150), a control system (e.g., control system 1006), the instrument may move within the remote center RC, stretching the material surrounding the remote center RC (e.g., the skin of a patient, the surface of a sample, etc.). Traditional systems may stretch the material too far and cause damage to the target. Alternatively, traditional systems may attempt to keep the instrument 150 rigid, which may decrease the range in which an operator can move and / or otherwise utilize the instrument 150.

[0047] The instant techniques, however, may simulate a presence of a spring that supports the remote center RC at the initial fulcrum point. As a result, the remote center RC is able to move slightly from the initial fulcrum point based on the properties of the simulated spring and alleviate some of the above-described stresses on the target, thereby reducing discomfort and / or minimizingIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC damage. It should be appreciated that by simulating the presence of a spring, the remote RC is controlled to return to the initial fulcrum position in a manner as if a spring were physically coupled to the remote center RC at the initial fulcrum point.

[0048] For example, if an instrument 150 associated with a remote center RC at an initial fulcrum point Lo moves such that the remote center RC is now located at a second point Li, the control system may move the remote center RC to return to the initial fulcrum point Lo based on the virtual spring 390. That is, the remote center RC may return to the initial entry point Lo in response to a force 392 acting on the remote center RC determined via a spring equation defining the virtual spring 390. It will be understood that the virtual spring 390 is not a real, physical spring, and is depicted as a spring for ease of illustration and understanding. As such, the virtual spring 390 may be a programmed movement schema in which the control system 1006 generates control signals that simulate forces that would be generated by a spring in response to the motion of the remote center RC without actually using a physical spring. For example, the control system 1006 may move the remote center RC with a force in accordance with a spring equation F — —kx, where k is a spring constant for the virtual spring 390 and x is a displacement from the initial fulcrum point Lo. Accordingly, the control system may generate control signals for one or more components of the manipulator 140 that reflect the force F being exerted on the remote center RC in a countervailing direction of the displacement from Lo to Li.

[0049] As described above, the control system may detect the motion of the remote center RC through an analysis of kinematic data associated with the manipulator 140 and / or the instrument 150. For example, the kinematic data may indicate that a portion of the instrument 150 at the remote center RC is offset from the initial fulcrum point Lo. In other embodiments, the control system may include a force sensor that detects forces acting on the remote center RC. In these embodiments, the virtual spring may be applied to generate a force response that counteracts the detected force as if the virtual spring 390 was disposed at the initial fulcrum point.

[0050] In some embodiments, the virtual spring response is implemented as a standalone module downstream from a conventional control system for maintaining the remote center RC. For example, this may make it easier to integrate the virtual spring response techniques into an existing control system. In these embodiments, the module may be configured to receive a control signal to rigidly maintain the remote center RC, and scale the response such that the resulting forceIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC exerted upon the remote center RC is equivalent to F. As a result, the remote center RC is permitted to move and is more gently guided back to position Lo.

[0051] In some embodiments, the remote center location (e.g., the fulcrum point defined as the initial fulcrum point Lo) can be updated and reestablished (e.g., also referred to as “burping” the remote center). Depending on the embodiment, the control system may determine that a present location (e.g., Li) is a preferable fulcrum point to the initial fulcrum point Lo, and subsequently reestablishes the remote center RC at position Li . Thus, in this situation, the calculation of x in the spring equation would now be based on position Li, not position Lo.

[0052] In some embodiments, the control system also causes small adjustments to the manipulator holding the instrument 150 to relieve pressure and ensure that the present location is treated as the new fulcrum point. In further embodiments, the small adjustments are internal and are therefore not visible to an observer. In still further embodiments, the control system instead reestablishes the remote center without actually adjusting the manipulator and / or instrument 150. Depending on the embodiment, the control system may determine such responsive to detecting a predetermined force (e.g., above a predetermined force threshold), a predetermined displacement / movement quantity, an indication from a user (e.g., an indication via a button, voice command, click, or other such event), and / or other such indications as described herein. In further embodiments, the spring response may decrease a need for burping, and the reestablishment criteria may therefore be greater, be manual only, be disabled, etc.

[0053] It will be understood that, although FIG. 3B depicts a virtual spring 390 and force 392 in a single direction, multiple virtual springs (e.g., spring equations) in multiple directions of a 3D space may similarly be utilized. As such, each virtual spring (e.g., spring equation) may have independently configurable spring constants representative of a different stiffness for each virtual spring. Thus, the virtual spring system may be configured to be isotropic (e.g., the virtual spring system has the same spring constant in all directions) or anisotropic (e.g., the virtual spring system has different spring constants depending on the direction of displacement). In some embodiments, the virtual spring system may be isotropic with respect to displacement in the X-Y plane, but anisotropic with respect to displacement along the Z-axis. For example, it may be more important to maintain a consistent instrument depth when performing the procedure, and thus the spring constant for displacement along the Z-axis may be higher than displacement along the X-Y plane.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PCSimilarly, if the subject has sensitive regions proximate to the initial fulcrum point Lo, the virtual spring may exhibit a higher spring constant when the displacement in X-Y plane in a direction toward the sensitive region, as opposed to a displacement in the X-Y plane away from the sensitive region.

[0054] The spring constant of the virtual spring may be chosen based on several factors. For example, the spring constant may be defined to be inversely proportional to a thickness of material associated with the remote center and / or surrounding area of the target (e.g., skin for a subject). To this end, thicker skin may have more resistance to motion of the remote center RC and thus require a small spring constant. In some embodiments, a size of the subject may be used to infer a thickness of the material (e.g., smaller subjects generally have thinner material). Relatedly, another factor may be a location of an entry point on the subject (e.g., going through a ribcage would utilize a stiffer spring constant, whereas going through the abdomen would utilize a looser spring constant) to minimize damage on the surface of the subject, etc. As another factor, the spring constant may be based on a type of procedure or a state of a procedure. For example, if the instrument 150 inserted (or will be inserted) to a greater depth, the spring constant may be increased to have more refined control of the instrument.

[0055] Many aspects of a control system (e.g., control system 1006) for controlling the physical positioning of the remote center RC location are more fully described in U.S. Pat. No. 6,699,177, the full disclosure of which is incorporated herein by reference. In some such embodiments, the location of a remote center RC at which an instrument is inserted into an internal surgical site can be calculated by a remote center calculation module or other stored algorithm from instrument movements.

[0056] In short, the above descriptions enable the remote center to be determined / estimated through software. By having the capability to compute software remote centers, different modes characterized by the compliance or stiffness of a spring constant for the system can be selectively implemented. More particularly, different system modes over a range of remote centers (i.e., ranging from one having a compliant spring remote center to one having a stiff spring remote center) can be implemented after an initial estimate remote center is computed. Depending on the embodiment, a default spring constant value may be used by the control system and a user may adjust the spring constant based on user preference. In further embodiments, the control systemIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC may further calculate the initial spring constant for the remote center based on one or more qualities of the target, procedure, user, etc. as described in more detail with regard to FIG. 4 below.

[0057] It should be understood that many of the calculations described herein regarding the controller architecture of FIGs. 3A and 3B may, at least in part, be an addition to or an alternative to controller calculations regarding alternative control architectures. Several mechanisms may be applied for gradually increasing the stiffness of the spring constant for the software center control, including those discussed below with regard to FIG. 5 below.

[0058] The body wall and any other exogenous forces applied to the manipulator assembly can affect the motion of the remote center. In some embodiments, the instrument 150, manipulator assembly, and / or other element of the system can detect exogenous forces and dampen or otherwise minimize the force (e.g., while moving the instrument in accordance with the virtual spring 490). In some embodiments, similar calculations will allow the controller to compensate for movement of the patient, such as by reorienting a surgical table, repositioning a patient on the surgical table, or the like.

[0059] FIG. 4 is an example flow diagram of an example method 400 for operating a repositionable structure associated with one or more instruments and controlling positioning for a remote center position, performed by, for example, a system with manipulators according to any of FIGs. 1-3B. An example system for performing the method 400 may include a repositionable structure such as the manipulators 140, 240 and an instrument such as the instrument 150, as described herein. The system further includes a controller, such as the control system 1006 of FIG. 1, operatively coupled to the repositionable structure to control positions and movement of the parts of the repositionable structure and instrument.

[0060] At block 402, a controller (e.g., the control system 1006) associated with a repositionable structure detects, via kinematic data associated with the repositionable structure, a shift associated with a remote center position relative to a fulcrum point. In some embodiments, the initial remote center position (e.g., the fulcrum point) is where an initial incision is made.

[0061] At block 404, the controller applies a spring equation to scale a response that maintains the remote center position such that one or more components of the repositionable structure maintain the remote center position within a predetermined range of motion from the fulcrum point. In some embodiments, the spring equation is a first spring equation associated with a firstIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC translational dimension (e.g., the x-dimension, the y-dimension, or the z-dimension). In some such embodiments, the controller additionally applies a second spring equation associated with a second translational dimension. In further such embodiments, the controller additionally applies a third spring equation associated with a third translational dimension. Depending on the embodiment, each of the first, second, and / or third spring equation may include the same or different spring constants. For example, each of the first, second, and third spring equation include a spring constant different from each of the other two spring constants. Similarly, each of the first, second, and third spring equation may have the same spring constant. As another example, the third spring equation may include a spring constant different than a spring constant shared by the first and second spring constant. Similarly, any subset of spring equations may include a same or different spring constant (e.g., the first and second spring equations may include different spring constants).

[0062] Depending on the embodiment, the spring constant may be based on one or more factors associated with the target (e.g., a patient or other such subject, an object, a sample, etc.), the repositionable structure, the type of procedure, and / or any other such factor as described herein. For example, the spring constant may be inversely proportional to a thickness of material composing the remote center and / or surrounding area of the target (e.g., skin for a subject ). Alternatively, the spring constant may be based on a type of procedure (e.g., a shallow insertion compared to a deeper insertion), a surgery target for a subject, an entry point on the subject (e.g., going through a ribcage would utilize a stiffer spring constant, whereas going through the abdomen would utilize a looser spring constant), a size of a subject (e.g., the smaller the patient, the stiffer the spring is), to minimize damage on the surface of the subject, etc.

[0063] In further embodiments, the controller may store and / or otherwise use a default spring constant for the spring equation, and the controller may calculate a modified spring constant for the spring equation using the default spring constant and responsive to or otherwise based on an indication from the user. For example, the user may provide one or more values (e.g., skin thickness, procedure type, planned entry point, etc.) to the controller, which may automatically adjust the spring constant for the spring equation using a default value. In some such embodiments, the default value may be one of multiple default values corresponding to different material types, procedures, instruments, etc. In further such embodiments, the default may be calculated using a median size subject and allow the user to tune the spring constant (e.g., make stiffer, looser, etc.) and / or disable the virtual spring determination.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC

[0064] In some embodiments, a value (e.g., a spring constant, compression value, etc.) of the spring equation is based on a distance from the component of the rcpositionablc structure to a position of the component when the remote center position was established (e.g., position Lo in FIG. 3B). As such, the spring equation may vary based on the movement of a component of the repositionable structure over the course of a procedure.

[0065] In further embodiments, the response to which the controller applies the spring equation to is a response to rigidly maintain the position of the remote center. As such, the controller applies the spring equation by scaling the response to rigidly maintain the position of the remote center by a spring factor (e.g., as described above) to generate the control signal (e.g., as described below) such that the control signal guides the remote center to the fulcrum point in accordance with the spring equation.

[0066] At block 406, the controller generates a control signal to control the repositionable structure to respond to the detected shift. In some embodiments, the controller generates the control signal by applying the spring equation (e.g., by performing block 404). As such, the controller may perform blocks 404 and 406 substantially simultaneously and / or in a reverse order. Therefore, the controller may generate the control signal by applying the spring equation to scale the response that maintains the remote center position such that one or more components of the repositionable structure maintain the remote center position within a predetermined range of motion from the fulcrum point. In some embodiments, the controller detects a force upon a component of the repositionable structure that maintains the remote center and generates the control signal based on the detected force (e.g., by applying the spring equation to counteract the force). In some embodiments, the repositionable structure does not include additional sensors and retrieves kinematic data from the one or more joints of the repositionable structure. As such, the controller may generate the control signal (e.g., by applying the spring equation to the reaction) prospectively (e.g., predicts to perform such) rather than reactively.

[0067] At block 408, the controller transmits the control signal to the repositionable structure. In some embodiments, the controller detects when a predetermined amount of force is applied to the remote center and, in response, provide a warning to the user. For example, the controller may determine that the control signal includes instructions for applying too much force to the remote center and may cause damage to the remote center if maintained or increased. In furtherIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC embodiments, the controller detects the quantity of force (and, as such, when the predetermined amount of force is applied) based on a magnitude of pressure applied by the instrument to the remote center. In still further embodiments, the controller detects the quantity of force (and, as such, when the predetermined amount of force is applied) based on torque data received from one or more joint drivers associated with the repositionable structure.

[0068] In some embodiments, the controller additionally detects a stimulus that indicates, to the controller, to reestablish the remote center position (e.g., the fulcrum point) maintained by the repositionable structure. As such, the controller is able to reset the remote center position (e.g., also referred to as “burping” the remote center) to a current or alternate position. In some such embodiments, the stimulus can be or include a force beyond a threshold value (e.g., indicating to the controller that too much pressure is being exerted on the remote center), a motion of the component of the repositionable structure beyond a threshold distance (e.g., indicating to the controller a potentiality of moving the remote center too far), a user input (e.g., a button press, voice command, click, controller input, and / or other such indication from a user indicating to the controller that the user wishes to reestablish the remote center), etc.

[0069] Depending on the embodiment, the controller may reestablish the remote center by adjusting the spring equation based on the position of the reestablished remote center. As such, the controller may set the reestablished remote center as the baseline point (e.g., where the spring equation leads to no movement). In further embodiments, the controller may reestablish the remote center by adjusting one or more joints associated with the repositionable structure. In some such embodiments, the controller causes the instrument to maintain a position. Depending on the embodiment, the repositionable structure may not shift visibly, but may readjust one or more internal mechanisms or joints to reestablish the remote center (e.g., by millimeters, micrometers, etc.). In further embodiments, the repositionable structure shifts visibly at components proximal to the instrument but maintains the instrument positioning. In some embodiments, the repositionable structure does not include additional sensors and retrieves kinematic data from the one or more joints of the repositionable structure. As such, the controller may perform the reestablishment prospectively (e.g., predicts to perform such) rather than reactively.

[0070] One or more components of the embodiments discussed in this disclosure, such as control system 1006, may be implemented in software for execution on one or more processors ofIntuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC a computer system. The software may include code that when executed by the one or more processors, configures the one or more processors to perform various functionalities as discussed herein. The code may be stored in a non-transitory computer readable storage medium (e.g., a memory, magnetic storage, optical storage, solid-state storage, etc.). The computer readable storage medium may be part of a computer readable storage device, such as an electronic circuit, a semiconductor device, a semiconductor memory device, a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM); a floppy diskette, a CD-ROM, an optical disk, a hard disk, or other storage device. The code may be downloaded via computer networks such as the Internet, Intranet, etc. for storage on the computer readable storage medium. The code may be executed by any of a wide variety of centralized or distributed data processing architectures. The programmed instructions of the code may be implemented as a number of separate programs or subroutines, or they may be integrated into a number of other aspects of the systems described herein. The components of the computing systems discussed herein may be connected using wired and / or wireless connections. In some examples, the wireless connections may use wireless communication protocols such as Bluetooth, near-field communication (NFC), Infrared Data Association (IrDA), home radio frequency (HomeRF), IEEE 802.11, Digital Enhanced Cordless Telecommunications (DECT), and wireless medical telemetry service (WMTS).

[0071] Various general-purpose computer systems may be used to perform one or more processes, methods, or functionalities described herein. Additionally or alternatively, various specialized computer systems may be used to perform one or more processes, methods, or functionalities described herein. In addition, a variety of programming languages may be used to implement one or more of the processes, methods, or functionalities described herein.

[0072] While certain embodiments and examples have been described above and shown in the accompanying drawings, it is to be understood that such embodiments and examples are merely illustrative and are not limited to the specific constructions and arrangements shown and described, since various other alternatives, modifications, and equivalents will be appreciated by those with ordinary skill in the art.

Claims

Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PCWHAT IS CLAIMED:

1. A computer-assisted system for controlling positioning of a remote center position, the computer-assisted system comprising: a repositionable structure configured to (i) support an instrument and (ii) maintain a remote center at a fulcrum point associated with a port via which the instrument is inserted; and a control system operably coupled to the repositionable structure, the control system configured to: detect, via kinematic data associated with the repositionable structure, a shift associated with the remote center position relative to the fulcrum point; generate a control signal to control the repositionable structure to respond to the detected shift, wherein generating the control signal includes: applying a spring equation to scale a response that maintains the remote center position such that one or more components of the repositionable structure maintain the remote center position within a predetermined range of motion from the fulcrum point; and transmit the control signal to the repositionable structure.

2. The computer-assisted system of claim 1, wherein: the spring equation is a first spring equation associated with a first translational dimension; and generating the control signal further includes applying a second spring equation associated with a second translational dimension.

3. The computer-assisted system of claim 2, wherein generating the control signal further includes applying a third spring equation associated with a third translational dimension.

4. The computer-assisted system of claim 3, wherein: the third spring equation has a first spring constant; and at least one of the first spring equation or the second spring equation has a second spring constant different than the first spring constant.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC5. The computer-assisted system of claim 2, wherein the first spring equation has a first spring constant, and the second spring equation has a second spring constant different than the first spring constant.

6. The computer-assisted system of claim 1, wherein the control system is further configured to: detect when a predetermined amount of force is applied to the remote center; and in response to detecting when the predetermined amount of force is applied, provide a warning to a user.

7. The computer-assisted system of claim 6, wherein the predetermined amount of force is based on a magnitude of pressure applied by the instrument to the remote center.

8. The computer-assisted system of claim 6, wherein the predetermined amount of force is based on torque data received from one or more joint drivers associated with the repositionable structure.

9. The computer-assisted system of claim 1, wherein a spring constant of the spring equation is inversely proportional to a thickness of skin for a subject.

10. The computer-assisted system of claim 1, wherein a spring constant of the spring equation is based on a type of procedure.

11. The computer-assisted system of claim 1, wherein a spring constant of the spring equation is based on a surgery target for a subject.

12. The computer-assisted system of claim 1, wherein a spring constant of the spring equation is based on an entry point on a subject.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC13. The computer-assisted system of claim 1 , wherein a spring constant of the spring equation is a default spring constant of the spring equation, and wherein the control system is further configured to: calculate a modified spring constant of the spring equation based on an indication from a user.

14. The computer-assisted system of claim 1, wherein a compression value of the spring equation is based on a distance from the one or more components of the repositionable structure to a position of the one or more components when the remote center position was established.

15. The computer-assisted system of claim 1, wherein the control system is further configured to: detect a force upon a component of the repositionable structure that maintains the remote center; wherein generating the control signal is based on the detected force.

16. The computer-assisted system of claim 1, wherein to apply the spring equation to scale the response, the control system is configured to: scale the response to rigidly maintain the remote center position by a spring factor to generate the control signal such that the control signal guides the remote center to the fulcrum point in accordance with the spring equation.

17. The computer-assisted system of any one of claims 1-16, wherein the control system is further configured to: detect a stimulus indicating to reestablish the remote center position maintained by the repositionable structure.

18. The computer-assisted system of claim 17, wherein the stimulus is a force beyond a threshold value.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC19. The computer-assisted system of claim 17, wherein the stimulus is motion of the one or more components of the rcpositionablc structure beyond a threshold distance.

20. The computer-assisted system of claim 17, wherein the stimulus is a user input.

21. The computer-assisted system of claim 17, wherein to reestablish the remote center, the control system is configured to: adjust the spring equation based on a reestablished position of the reestablished remote center.

22. The computer-assisted system of claim 17, wherein to reestablish the remote center, the control system is configured to: adjust one or more joints associated with the repositionable structure while maintaining a position of the instrument.

23. A computer-implemented method for controlling positioning of a remote center position associated with a subject via a repositionable structure configured to support an instrument and maintain a remote center at a fulcrum point associated with a port via which the instrument is inserted, the computer-implemented method comprising: detecting, by one or more processors of a control system and via kinematic data associated with the repositionable structure, a shift associated with the remote center position relative to the fulcrum point; generating, by the one or more processors of the control system, a control signal to control the repositionable structure to respond to the detected shift, wherein generating the control signal includes: applying, by the one or more processors of the control system, a spring equation to scale a response that maintains the remote center position such that one or more components of the repositionable structure maintain the remote center position within a predetermined range of motion from the fulcrum point; and transmitting, by the one or more processors of the control system, the control signal to the repositionable structure.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC24. The computer-implemented method of claim 23, wherein: the spring equation is a first spring equation associated with a first translational dimension; and generating the control signal further includes applying a second spring equation associated with a second translational dimension.

25. The computer-implemented method of claim 24, wherein generating the control signal further includes applying a third spring equation associated with a third translational dimension.

26. The computer-implemented method of claim 25, wherein: the third spring equation has a first spring constant; and at least one of the first spring equation or the second spring equation has a second spring constant different than the first spring constant.

27. The computer-implemented method of claim 24, wherein the first spring equation has a first spring constant, and the second spring equation has a second spring constant different than the first spring constant.

28. The computer-implemented method of claim 23, wherein the computer- implemented method further comprises: detecting, by the one or more processors, when a predetermined amount of force is applied to the remote center; and in response to detecting when the predetermined amount of force is applied, providing, by the one or more processors, a warning to a user.

29. The computer-implemented method of claim 28, wherein the predetermined amount of force is based on a magnitude of pressure applied by the instrument to the remote center.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC30. The computer-implemented method of claim 28, wherein the predetermined amount of force is based on torque data received from one or more joint drivers associated with the repositionable structure.

31. The computer-implemented method of claim 23, wherein a spring constant of the spring equation is inversely proportional to a thickness of skin for a subject.

32. The computer-implemented method of claim 23, wherein a spring constant of the spring equation is based on a type of procedure.

33. The computer-implemented method of claim 23, wherein a spring constant of the spring equation is based on a surgery target for a subject.

34. The computer-implemented method of claim 23, wherein a spring constant of the spring equation is based on an entry point on a subject.

35. The computer-implemented method of claim 23, wherein a spring constant of the spring equation is a default spring constant of the spring equation, and wherein the computer- implemented method further comprises: calculating, by the one or more processors, a modified spring constant of the spring equation based on an indication from a user.

36. The computer-implemented method of claim 23, wherein a compression value of the spring equation is based on a distance from the one or more components of the repositionable structure to a position of the one or more components when the remote center position was established.

37. The computer-implemented method of claim 23, wherein the computer- implemented method further comprises: detecting, by the one or more processors, a force upon a component of the repositionable structure that maintains the remote center;Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC wherein generating the control signal is based on the detected force.

38. The computer- implemented method of claim 23, wherein applying the spring equation to scale the response comprises: scaling the response to rigidly maintain the remote center position by a spring factor to generate the control signal such that the control signal guides the remote center to the fulcrum point in accordance with the spring equation.

39. The computer-implemented method of any one of claims 23-38, wherein the computer- implemented method further comprises: detecting, by the one or more processors, a stimulus indicating to reestablish the remote center position maintained by the repositionable structure.

40. The computer-implemented method of claim 39, wherein the stimulus is a force beyond a threshold value.

41. The computer-implemented method of claim 39, wherein the stimulus is motion of the one or more components of the repositionable structure beyond a threshold distance.

42. The computer-implemented method of claim 39, wherein the stimulus is a user input.

43. The computer-implemented method of claim 39, wherein reestablishing the remote center comprises: adjusting, by the one or more processors, the spring equation based on a reestablished position of the reestablished remote center.

44. The computer-implemented method of claim 39, wherein reestablishing the remote center comprises: adjusting, by the one or more processors, one or more joints associated with the repositionable structure while maintaining a position of the instrument.Intuitive Docket No.: P06929-WOAttorney Docket No.: 33685 / 70199 / PC45. A non-tangiblc computer-readable medium storing instructions for controlling positioning of a remote center position associated with a subject that, when executed, cause one or more processors of a control system to perform the computer-implemented method of any of claims 23-44.

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