SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING NULL SPACE

Japanese Patent JP2018064969

A

PROBLEM TO BE SOLVED: To provide devices, systems and methods for surgery, robotic surgery and other robotic applications, for avoiding collisions between manipulator arms using a null space.SOLUTION: A system calculates an avoidance movement using a relationship between reference geometries of multiple manipulators so as to maintain separation between reference geometries. The system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null space of the Jacobian on the basis of the relative state and avoidance vector. Joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location. An instrument shaft inclines about the remote center location. The joints may be concurrently driven according to an end effector displacing movement within a null perpendicular space of the Jacobian in order to effect a desired movement of the end effector or remote center.SELECTED DRAWING: Figure 1A

JP6261376	The manipulator system for an operation
WO/2020/058561	APPARATUS AND METHOD FOR AUTHENTICATING A USER
WO/2020/014207	SYSTEMS FOR SENSING PRESENCE OF MEDICAL TOOLS

ARJANG M HOURTASH
PUSHKAR HINGWE
BRUCE MICHAEL SCHENA
ROMAN L DEVENGENZO

JP2017238283A

April 26, 2018

December 13, 2017

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INTUITIVE SURGICAL OPERATIONS

A61B34/35; A61B34/37; B25J13/00

US20110276059A1

2011-11-10

Tadashige Ito
Tadahiko Ito
Shinsuke Onuki

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