• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.
    公开号:US20010001132A1
    申请号:US09/748,850
    申请日:2000-12-28
    公开日:2001-05-10
    发明作者:Janez Funda；Russell Taylor
    申请人:Janez Funda；Taylor Russell Highsmith；
    IPC主号:B25J9-1648
    专利说明:
    [1] 1. This invention relates to the field of robotics. More specifically, the invention relates to controlling robotic mechanisms with both active and passive joints. BACKGROUND OF THE INVENTION
    [2] 2. Robotic mechanisms comprising only active joints are used widely in a number of application domains and the control of such mechanism is well understood. We will refer to such mechanisms as active mechanisms. Active mechanisms are particularly well suited for situations where the working volume of the mechanism is free of obstacles and environmental constraints on the motion of the mechanism. This is typically the case for applications of active robot mechanisms to manufacturing tasks, where the robot work-cell is specifically designed to suit the requirements of the robot mechanism. There are situations, however, where access to the working volumn of a robotic mechanism can not be made unimpeded. In such situations access to the working volume is restricted by environmental mental constraints, such as small openings, tight passages and obstacles. With active mechanisms these constraints must be accommodated with time-consuming off-line programming to allow the mechanism to accomplish a given task without undesired contact with the environment. The success of task execution depends on the accuracy with which the programmer has captured the geometry of the environmental constraints and the accuracy with which complex coordinated motions of multiple joints of the robot mechanism are carried out. This approach is inflexible and error-prone, often leading to unintended or overly forceful interaction between the robot mechanism and the environment, potentially damaging the environment, the mechanism itself, or both.
    [3] 3. An alternative approach to controlling robotic mechanisms in the presence of environmental constraints is to use robot mechanisms which include one or more passive joints. We will refer to such robot mechanisms as hybrid mechanisms. By ensuring that each link of a hybrid mechanism, which is constrained by an environmental constraint, is attached to one or more passive joints at the proximal end of the constrained link, such a hybrid mechanism can comply freely with the environmental constraints acting on the mechanism. (Throughout this document we will use the terms ‘proximal’ and ‘distal’ to mean ‘closer to’ and ‘further from’ the base of the robot, respectively. The base of the robot refers to the point where the robot is rigidly attachecd to the environment.) This arrangement ensures that neither the environment nor the mechanism itself will be damaged during task execution, which makes hybrid mechanisms the preferred solution for applications where access to the workspace is restricted and avoiding incidental damage to the environment is critical. However the use of passive joints significantly complicates control of the mechanism and so hybrid mechanisms are rarely used in practice. The difficulties in controlling hybrid mechanisms arise because the environmental constraints on the motion of the constrained elements and attached passive joints must be characterized and used to accurately predict the motion of the mechanism in response to a given displacement of active joints. Further, the control is complicated by the fact that the location where a given environmental constraint is acting on the mechanism may change as the mechanism moves. This requires that the control method be able to update the characterization of the environmental constraints on the motion of the mechanism at run-time.
    [4] 4. We will define a mechanism to comprise a serial chain of two or more rigid links, connected by one or more joints. Each of the joints can be either active or passive. An active joint is equipped with an actuator (motor), which is capable of moving the joint, and an encoding device (encoder), which provides information about the position of the joint at any time. A mechanism consisting of only active joints will be referred to as an active mechanism. A mechanism comprising both active and passive joints will be referred to as a hybrid mechanism. An element of the mechanism will refer to either a joint or a link of the mechanism. The element whose motion relative to the workspace is being controlled will be referred to as the target element. Normally the target element will correspond to a tool or an instrument attached to the distal end of the mechanism, but could be, in general, any element of the mechanism. We will use the term sub-mechanism to mean a subset of a larger mechanism, the sub-mechanism comprising at least one element of the larger mechanism. We will define the pose of an element to be the position and orientation of the element, expressed with respect to a given (e.g., Cartesian) coordinate frame. We will distinguish between a desired pose of an element and an actual pose of an element. The desired pose of an element is the pose that the element is expected to attain as a result of the control action of a control method. The desired pose of the target element is input to the control method. The actual pose of an element is the element's current pose with respect to a given Cartesian coordinate system. We will define a pose difference between pose A and pose B of an element to be a function of the two poses. Normally, the result of evaluating the pose difference function will be the Euclidean distance between the positional parts of the two poses and a unit vector and angle corresponding to the finite rotation separating the orientational components of the two poses. However, other functions can be defined to represent the pose difference between two given poses of an element.
    [5] 5.FIGS. 1 and 2 introduce the notational conventions used throughout this document and provide a brief overview of the state of the art in control of active mechanisms. FIG. 1a shows a simple mechanism consisting of 4 links (101, 104, 107, 110), three mechanical joints (102, 105, 108), and three actuators corresponding to the three mechanical joints (103, 106, 109, respectively). Each of the actuators comprises a motor (111), which delivers mechanical force or torque to move the joint, and a means of determining the angular or linear position of the joint (112), which enables closed-loop control of each of the joints. FIGS. 1b, 1 c, 1 d, and 1 e detail the notational conventions for the four types of mechanical joints that will be used in this document. FIG. 1b shows a translational joint (121) and the corresponding symbolic representation (122) used in subsequent figures. FIG. 1c shows a rotary twist joint (141) and the corresponding symbolic representation (142). FIG. 1d shows an out-of-plane revolute joint (161) and the corresponding symbolic representation (162). Finally, FIG. 1e shows an in-plane revolute joint (181) and the corresponding symbolic representation (182).
    [6] 6.FIG. 2 shows a flow diagram of a typical control method for Cartesian control of a target element of a robotic mechanism comprising only active joints. The method 200 begins by determining the positions of all joints of the mechanism (205). The position of a translational joint is expressed as a linear distance and the position of a rotary joint is expressed as an angular displacement. Standard mathematical techniques (known in the art as forward kinematic) are then used to compute the actual (current) pose of the target element (210). The actual pose of the target element is compared with the desired pose of the target element (215) and the control method is terminated (220) if the difference between the two poses is less than some predetermined amount, where the amount can be a vector quantity. The pose difference consists of a positional and an orientational component. If the pose difference is larger than the predetermined amount, the method continues by characterizing the effect of moving each of the joints on the resulting Cartesian displacement of the target element (225). This step is accomplished by analyzing the effect of moving each individual joint of the mechanism on the Cartesian displacement of the target element. For each joint j this mapping will be, in general, a nonlinear function of the joint positions of all joints appearing in the serial chain of the mechanism between the joint j and the target element. The combined nonlinear mapping, which includes the individual mappings for each of the joints, is referred to in the art as the Jacobian mapping. In general, the Jacobian mapping relates infinitesimal displacements of each of the joints of a mechanism to the resulting Cartesian displacement of an element of the mechanism. The Jacobian mapping is a nonlinear function of the joint positions of all joints of the mechanism and therefore takes on different numerical values for different configurations (joint position values) of the mechanism.
    [7] 7. Referring again to FIG. 2, in step (230) of method 200 the desired motion of the target element is next characterized and expressed as a six-vector of positional and orientational change relative to the actual (current) pose of the mechanism. The incremental motion for each joint is then computed, such that the difference between the resulting actual pose of the target element and the desired pose of the target element is minimized (235). For most industrial and service robot mechanisms this step normally involves a straightforward evaluation of known equations, known in the art as inverse kinematic equations. For more complicated mechanisms, which do not admit closed-form inverse kinematic equations (such as robot mechanisms comprising more than six joints) this step may involve a nonlinear optimization. A number of techniques for carrying out nonlinear optimization computations are known in the art. A given iteration of the control method ends by moving each of the joints of the mechanism (240) by the incremental motions computed in step (235) above. The method then resumes at step (205) and continues until the pose difference in step (215) becomes less than the predetermined amount and the method terminates.
    [8] 8. Very few examples of controlling hybrid passive/active mechanisms have been reported in the published literature. The prior art includes two examples of hybrid passive/active mechanisms which are being controlled in the presence of a single environmental constraint. Both examples arise in the context of laparoscopic surgery, where the constrained element is a laparoscope and the environmental constraint is the port of entry of the laparoscope into the patient. Due to the environmental constraint imposed by the port of entry into the patient, the motion of the laparoscope is limited to four degrees of freedom (d.o.f.) of motion: three orthogonal rotations about the port of entry and one translational d.o.f. along the long axis of the instrument.
    [9] 9. Hurtcau et. al. describe a robotic system for laparoscopic surgery where a robotic arm is connected to a laparoscope via a two-axis passive universal joint at the wrist of the robot. They use a manual teach pendant to independently control the translational motion of the robot's wrist, relying on the compliant passive linkage to position the laparoscope tip in azimuth, elevation and insertion depth. Each of the translational d.o.f. of the robot wrist is controlled manually by adjusting the corresponding knob or dial on the teach pendant.
    [10] 10. Wang et. al. also use a robotic arm and a passive universal joint to position a laparoscope inside the patient, subject to the constraint imposed by the port of entry of the laparoscope into the patient. They add a driven instrument rotation stage to allow control of azimuth, elevation, rotation and insertion depth of the laparoscope. The details of their control method have not been made public, but several limitations of the method are apparent from the observed behavior of the system (as discussed later).
    [11] 11. A less directly related reference on the subject of control of hybrid passive/active mechanisms has been disclosed by Jain et. al. in U.S. Pat. No. 5,377,310. In this work a robot manipulator comprising both active and passive joints is being controlled by estimating passive joint friction forces on passive joints and using these estimates to predict the dynamic behavior of the passive joints during high-speed motion of the manipulator due to the motion of the active joints. Dynamic parameters of all links and all actuators comprising the mechanism are assumed known. STATEMENT OF PROBLEMS WITH THE PRIOR ART
    [12] 12. Hurteau et. al. present a very simple, manual control strategy for controlling the motion of a target element (laparoscope) attached to the end of a hybrid mechanism (industrial robot with an attached passive universal joint). The control method is specifically tailored to the task at hand and a control panel with three knobs is used to manually control each of the three d.o.f. of motion of the constrained element (laparoscope). Further, this strategy does not allow simultaneous coordinated control of all three d.o.f. or the constrained element and is only applicable to a single environmental constraint of the specific type presented by the port of entry of the laparoscope into the patient. Finally, the control strategy does not allow specification of additional constraints on the motion of the mechanism as dictated by the mechanism itself or the nature of the task.
    [13] 13. The control strategy of Wang et. al. has not been disclosed. It appears that their strategy is also specifically tailored to the case of a single constraint of a specific type imposed by a laparoscope passing through an artificial orifice into the patient. They have disclosed no control method applicable to hybrid mechanisms comprising multiple sets of passive joints or to multiple environmental constraints, nor have they exhibited such a system demonstrating controlled behavior. Further, they have disclosed no method for specifying additional motion constraints to guarantee achievement of additional task goals or constraints. Finally, they have not demonstrated a system having the ability to trade off multiple task goals and constraints.
    [14] 14. While the details of the control strategy employed by Wang et. al. are not known, it appears that their strategy is also specifically tailored to the case of a single constraint of the specific type imposed by a laparoscope passing through an artificial orifice into the patient. The methods therefore does not appear to be applicable to hybrid mechanisms comprising multiple sets of passive joints or multiple environmental constraints. It also does not seem to have any facility for specifying additional constraints dictated by the nature of the task.
    [15] 15. Jain's approach to controlling hybrid mechanisms is quite different from the above approaches. Jain et al. do not consider environmental constraints on the motion of the passive joints, but are instead concerned with controlling high-speed dynamic behavior of a hybrid mechanism. This control strategy is applicable only to situations when the robot mechanism is moving with substantial velocity; no static or low-speed control is possible with this approach.
    [16] 16. None of the control methods reported in the prior art represent a general control framework for effectively and accurately controlling robotic mechanisms comprising both active and passive joints in the presence of environmental constraints. Specifically, these control methods do not effectively control mechanisms with multiple sets of passive joints (separated by one or more active joints) and where multiple environmental and task constraints are acting on the mechanism. OBJECTS OF THE INVENTION
    [17] 17. An object of this invention is an improved method for controlling robotic mechanisms with active and passive joints.
    [18] 18. An object of this invention is an improved method for controlling robotic mechanisms with active and passive joints in the presence of constraints imposed by the environment or the nature of the task.
    [19] 19. An object of this invention is an improved method for controlling robotic mechanisms with active and passive joints in the presence of constraints imposed by the environment or the nature of the task for use in robotic surgery. SUMMARY OF THE INVENTION
    [20] 20. The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more environmental constraints imposed on the mechanism by the environment. The invention has applications in a variety of situations where robot mechanisms must be controlled in the presence of a restricted access to the working volume, but is particularly useful for control of robotic mechanisms comprising multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism.
    [21] 21. The method begins by determining the positions of one or more joints of the mechanism and using this information to determine the actual pose of a target element of the mechanism. A pose difference is found between the actual pose and a desired pose of the target element. On the first iteration of the method, a novel characterization of one or more environmental constraints on the motion of one or more of the passive joints of the mechanism is performed. This information, together with a characterization of any existing environmental constraints on the motion of active joints, and a characterization of the effects of the motion of each of the mechanism's active and passive joints on the motion of the target element, is used to determine an incremental motion of the active joints of the mechanism. The active joints are then moved through the determined incremental displacements, respectively, resulting in an incremental motion of the target element such that the pose difference between the desired and actual pose of the target element is minimized.
    [22] 22. One novel feature of the present invention is the characterization of the effects of the existing environmental constraints on the motion of the passive joints of the mechanism and, indirectly, the motion of the target element. This characterization allows the novel method to determine an incremental active joint motion which will minimize the pose difference between the desired and actual pose of the target element while complying with the existing environmental constraints on the mechanism.
    [23] 23. In another preferred embodiment, the novel control method allows specification of additional constraints on the motion of any part of the mechanism, where the additional constraints are dictated by the mechanical construction of the mechanism or the particular nature of the task.
    [24] 24. In still another preferred embodiment, the novel control method is used to control the motions of a surgical robot during laparoscopy. In this embodiment, the surgical robot holds a laparoscope which is inserted into the abdominal cavity of a patient. The port of entry of the laparoscope into the patient constitutes an environmental constraint on the motion of the laparoscope, which is attached to the robot mechanism via a passive universal joint. The novel method described in the present invention is used to control the robot mechanism so as to allow the surgeon to position the laparoscope into any reachable configuration within the workspace of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS
    [25] 25.FIG. 1, comprising FIGS. 1a-1 e, is a block diagram of an example prior art robotic mechanism (FIG. 1a) with symbolic representations for the various types of joints (FIGS. 1b-1 e).
    [26] 26.FIG. 2 is a flow chart showing typical prior art steps in controlling an active robotic mechanism.
    [27] 27.FIG. 3 is a block diagram of a robot mechanism with both active and passive joints controlled by the present invention.
    [28] 28.FIG. 4, comprising FIGS. 4A-4C, is a diagram showing various types of environmental constraints that can be imposed on a robotic mechanism with active and passive joints while being controlled by the novel method.
    [29] 29.FIG. 5 is a block diagram showing examples of task constraints which can be characterized by the present invention.
    [30] 30.FIG. 6 is a block diagram showing one preferred embodiment of a robotic mechanism with active and passive joints being controlled by the present invention.
    [31] 31.FIG. 7 is a flow chart showing the steps of a preferred method used for controlling robotic mechanisms with active and passive joints.
    [32] 32.FIG. 8 is a flow chart showing the steps of an alternative preferred method used for controlling robotic mechanisms with active and passive joints.
    [33] 33.FIG. 9 is a flow chart showing the steps of an alternative preferred embodiment of the present method used for controlling robotic mechanisms with active and passive joints.
    [34] 34.FIG. 10 is a diagram showing an example of updating the characterization of an environmental constraint on the motion of the passive joints of a hybrid mechanism. DETAILED DESCRIPTION OF THE INVENTION
    [35] 35. Referring to FIG. 3, there is shown a block diagram of the novel control method and a hybrid robot mechanism being controlled by the novel control method. The control method 365 executes on a computer 360 and communicates with the hybrid mechanism via control lines 315. The control lines are used to obtain information about the position of each of the mechanism's joints, and to send motion commands to (actuators 111 on) each of the active joints of the hybrid mechanism. Power and other signals are also delivered using the control lines 315. The general structure of a hybrid mechanism consists of an attachment surface (ground 301), where the mechanism is riigidly affixed to the environment, and a serial chain of rigid links (typically 320), connected by joints (typically 312.) We will use the term element to refer to either a link or a joint of the mechanism.
    [36] 36. Referring to FIG. 3, the hybrid mechanism shown comprises two sets of one or more passive joints (309, 310), separated by three sets of active joints (305, 306, 307-308). In general, the control method of the present invention can accommodate any number of sets of passive joints, separated by one or more active joints, provided that an environmental constraint acts on one link (element) connected to one of the passive joints in the set.
    [37] 37. Also shown in FIG. 3 are two environmental constraints (350, 355) restricting the motion of the mechanism. We will define an environmental constraint to be any restriction on one or more d.o.f. of motion of any element of the mechanism imposed by objects or forces in the environment. An example of an environmental constraint imposed by physical objects in the environment is a small opening in the wall of a hollow object through which all manipulation must be accomplished. In this example the element of the mechanism passing through the opening will not be able to translate laterally relative to the opening. We will say that the element is constrained by the opening. Environmental constraints can also be caused by non-contact interaction between the mechanism and the environment. An example of this type of environmental constraints are force fields, such as electro-magnetic fields, which can constrain the motion of a mechanism's element without the element being in physical contact with the environment. An environmental constraint which is located at a fixed location in the environment will be referred to as a fixed environmental constraint. On the other hand, an environmental constraint which is capable of moving within a bounded volume (range) in the environment will be referred to as a movable constraint. In FIG. 3, the environmental constraint 350 represents a fixed environmental constraint, while the environmental constraint 355 represents a movable environmental constraint. We will further define a constrained element to be an element which is constrained by one or more environmental constraints. We will also refer to the set of one or more passive joints attached to the proximal end of the constrained element as constrained passive joints. (Note again that proximal means closer to the ground 301.)
    [38] 38. We will refer to the most distal element or a mechanism as an end-element 325. We will further refer to the target element 330 as the element whose position is controlled by the method 365. In FIG. 3, a target element 330 is shown as the most distal element of the mechanism. While the target element being the end-element of a mechanism is common, it need not be the case. The control method can treat any element of the mechanism as the target element.
    [39] 39. Also shown in FIG. 3 are an actual pose 335 and a desired pose 340 of the target clement 330. The desired pose of the target element is input to the control method as is the actual pose of the target element. The method ends when the difference between the actual pose (335) and the desired pose (340) is less than a desired amount.
    [40] 40. Also shown in FIG. 3 is a schematic representation of a task constraint (345). Task constraints (345) and their role in the control of hybrid mechanisms using the present novel method will be discussed below.
    [41] 41. Referring to FIG. 7, there is shown a flow diagram of an embodiment of the present invention. The method 700 begins by determining the positions of the joints of the mechanism (705). Note that in this invention, both active and passive joint are encoded (typically see passive joint encoders 450 in FIG. 4) so that position of all of the joints of the mechanism can be determined. Using standard mathematical techniques, known in the art as forward kinematics, the method then computes the actual (current) pose of the target element (710). The actual pose of the target element is then compared with the desired pose of the target element (715) and the method terminates (720) if the difference between the actual and desired pose of the target element is less than a predetermined amount, where the amount can be a vector quantity. If the pose difference is larger than the predetermined amount, the method 700 continues to a decision block 725, where the number of the current iteration of the method is checked. If the current iteration is the first iteration of the method, then the method 700 proceeds by characterizing the existing environmental constraints on the motion of the passive joints of the mechanism 730. Otherwise step 730 is bypassed and the method 700 continues at step 735.
    [42] 42. Step 730 of the method is a novel component of the novel method and will be explained with the aid of FIG. 4. Referring to FIG. 4, there are shown three examples of environmental constraints which frequently arise in practice.
    [43] 43.FIG. 4A shows a portion of a hybrid mcchanism, comprising a set of two passive joints 411 attached to the proximal end 418 of a constrained element 412, which in this example has a circular cross-section. The cylindrical constrained element 412 passes through a circular orifice 413 in a thin plate 414 in the environment. Orifice 413 has a diameter which is slightly larger than the diameter of the constrained element 412, thus constraining the center axis 416 of the constrained element 412 to pass within a predefined tolerance of a fulcrum point 417 at the center of orifice 413. In the idealized case, where the constrained element 412 and orifice 413 both have zero diameters, the long axis 416 of the constrained element 412 will pass exactly through the fulcrum point 417. In a practical example from one preferred embodiment of our method to laparoscopic surgery the constrained element 412 would be a laparoscopic or other surgical instrument and the orifice 413 would be a canula inserted into an opening in the patient's abdominal wall. In this case the idealized constraint would approximate the actual constraint. As will be described later, one embodiment of our method explicitly adapts to variations in this approximation. In other embodiments, which may be preferred in applications requiring less accurate control, the inaccuracies introduced by the approximation can be ignored.
    [44] 44. We will refer to a constraint of the type described above and illustrated in FIG. 4A as a sliding fulcrum constraint. A sliding fulcrum constraint is partially characterized in terms of the location of the fulcrum point 417 with respect to the constrained element 412. This location can be represented by a positive distance 419 from the proximal end 418 of the constrained element 412 to the fulcrum point 417. A sliding fulcrum constraint is further characterized by restricting the motion of the constrained element 412 to three rotational d.o.f. about the fulcrum point 417 and one translational d.o.f. along the constraint element axis 416.
    [45] 45.FIG. 4B shows a portion of a hybrid mechanism comprising a set of two passive joints 421 attached to the proximal end of a constrained element 422. The constrained element 422 passes through a circular orifice 423 in a thin plate 424 belonging to the environment. The constrained element 422 consists of an elongated cylindrical member and two semi-spherical members 425. The two semi-spherical members 425 are rigidly attached to the cylindrical member such that their flat faces are perpendicular to the long axis 426 of the constrained element 422 and such that the poles of the two semi-spherical elements face each other and are separated along the direction of the constrained element axis 426 by the thickness of the plate 424. As in the case of FIG. 4A above, the diameter of orifice 423 is only slightly larger than the diameter of the cylindrical member of the constrained element 422, thus constraining the long axis 426 of the constrained element 422 to pass through a fulcrum point 427 at the center of orifice 423. Moreover, due to the shape (including the semi-spherical elements 425) of the constrained element 422, translational motion of the constrained element along its long axis 426 is not possible. Again, this scenario represents an idealized situation but which nevertheless offers a useful approximation to a number of practical situations. We will refer to a constraint of the type described above and illustrated in FIG. 4B as a fulcrum constraint. As in the case of a sliding fulcrum constraint, a fulcrum constraint is partially characterized in terms of the location of the fulcrum point 427 with respect to the constrained element 422. This location can be represented by a positive distance 429 from the proximal end 428 of the constrained element 422 to the fulcrum point 427. A fulcrum constraint is further characterized by restricting the motion of the constrained element 422 to three orthogonal rotations about the fulcrum point 427.
    [46] 46.FIG. 4C shows a hybrid mechanism comprising a set of two passive joints 431 attached to the proximal end 438 of a constrained element 432. The constrained element 432 is an elongated polyhedral object, which is symmetric with respect to its primary axis 436 and whose cross-section in the plane perpendicular to the primary axis 436 is a four-sided cross. (This is only an example geometry -- many other geometric shapes for the constrained element would apply equally well.) The constrained element 432 passes into an indentation 435 in the environment, which is of the same shape and slightly larger than the constrained element, so that the constrained element 432 fits snugly into the indentation 433. We will refer to this type of constraint as a sliding constraint. A sliding constraint is characterized by constraining the motion of the constrained element 432 to a single translational d.o.f. along the primary axis 436 of the constrained element 432.
    [47] 47. Referring to FIGS. 4A, 4B and 4C, in all three cases the restrictions on the motion of a constrained element can be expressed mathematically as a set of inequality constraints on the Cartesian displacement of the constrained element, restricting the motion of the constrained element in the prohibited d.o.f. to be less than a small (possibly infinitesimal) positive amount. These inequality constraints on the Cartesian displacement of the constrained element can then be expressed as equivalent inequality constraints on the motion of the passive joints of the mechanism by making use of the Jacobian mapping, described above and well known in the art. The characterization of the environmental constraints will therefore result in a set of one or more inequality constraints on the motion of the passive joints of the mechanism.
    [48] 48. Referring again to FIG. 7, having characterized the environmental constraints on the motion of the constrained elements and the corresponding passive joints in step 730, the method 700 proceeds by characterizing 735 the effects of environmental constraints and the motion of passive and active joints of the mechanism on the motion of the target element. This step is similar to step 225 of method 200 in that it is accomplished by analyzing the effect of moving each individual joint of the mechanism on the Cartesian displacement of the target element and constructing a corresponding Jacobian mapping between infinitesimal joint displacements and the resulting Cartesian displacement of the target element However, since the hybrid mechanism controlled by method 700 comprises both active and passive joints, step 735 of the novel method 700 represents an extension of the Jacobian mapping to the case where one or more of the joints of the mechanism are passive. This extension is not recognized or suggested in the prior art. Note that by the novel characterization in block (730), we are able lo characterize (735) the effects of environmental constraints on both active and passive joints in the same manner.
    [49] 49. Next, method 700 proceeds to characterizing the desired incremental motion of the target element (740). This step entails expressing the desired incremental motion of the target element as a vector of desired positional and orientational change.
    [50] 50. In step 745 method 700 uses the characterization of environmental constraints on the motion of constrained elements and passive joints of the mechanism (obtained in step 730), together with the Jacobian mapping (obtained in step 735) and the characterized desired incremental motion of the target element (obtained in step 740) to determine an incremental motion for each of the active joints of the mechanism. The determined incremental motion of the active joints of the mechanism (hereafter referred to as the incremental active joint motion) is such that the resulting incremental motion of the target clement minimizes the difference between the desired and the actual pose of the target element. Step 745 of method 700 involves setting up a set of nonlinear equations corresponding to the characterized desired motion of the target element as well as a set of one or more linear inequality constraints corresponding to the characterized environmental constraints on the motion of the passive joints of the mechanism, as obtained in step 730 of method 700. The resulting system of equations can be solved by using a numerical constrained nonlinear optimization method. Several such techniques are known in the art. The output of the constrained nonlinear optimization computation are the incremental motions of each of the active joints of the mechanism which optimally minimize the difference between the desired and actual pose of the target element.
    [51] 51. Note that the novel characterization of environmental constraints on passive joints (730) in combination with the other steps of the method 700 permit the effects of constraints on passive joints to be described in accounted for in the same manner as constraints on the active joints of the hybrid mechanism.
    [52] 52. Finally, step 750 of method moves each of the active joints of the mechanism by the corresponding incremental active joint motion, determined in step 745. The method then returns to step 705 and continues iterating until the pose difference between the desired and actual pose of the target element in step 715 is less than a predetermined amount and the method terminates.
    [53] 53. Referring to FIG. 8, there is shown a flow diagram of an alternative preferred method 800 for control of hybrid mechanisms in the presence of environmental constraints. Steps 805 through 825 of the method 800 are identical to steps 705 through 725 of method 700 of FIG. 7. On the first iteration of the method 800, the method in step 830 performs an initial characterization of environmental constraints on the motion of constrained elements and the attached passive joints. This initial characterization is performed in the same manner as in step 730 of method 700. On subsequent iterations of the method 800, the characterization of the environmental constraints on the motion of constrained elements and the attached passive joints of the mechanism is updated (835), based on the actual incremental motion of the target element. This step is accomplished by comparing the actual and desired incremental motion of the target element and using the difference between the two resulting poses to update the parameters of the characterization of the environmental constraints. Step 835 is a novel component of the method 800 and will be explained with the aid of FIG. 10.
    [54] 54. Referring to FIG. 10, there is shown an example of updating the characterization of a sliding fulcrum constraint on the constrained element 1003, whose proximal end (of element 1003) is connected to a hybrid mechanism 1001 via a passive universal joint 1002. The sliding fulcrum constraint is created by a small circular opening 1060 in the environment 1050, through which the constrained element 1003 is inserted. (The environment 1050 could be an anatomical structure of a patient.) A coordinate frame 1005 is associated with the proximal end of the constrained element 1003 and a coordinate frame 1006 is associated with the distal end of the constrained element 1003. The sliding fulcrum constraint in FIG. 10 is characterized by the fact that the motion of the constrained element 1003 is restricted to only four d.o.f. of motion -- three rotations about the circular opening 1060 in the environment and one translation along the long axis of the constrained element 1003. The sliding fulcrum constraint on the constrained element 1003 is further characterized by the location of the fulcrum point 1009 on the constrained element 1003. (The fulcrum point 1009 can be an incision in the patient.) In FIG. 10 this location is represented by a positive distance 1008 from the origin of the coordinate frame 1005 at the proximal end of the constrained element 1003 to the fulcrum point 1009. Now, consider the situation in which the constrained element 1003 also corresponds to the target element of the hybrid mechanism and the control method 800 is commanded to move the target element from the current (actual) pose 1006 to the new (desired) pose 1016. The method 800 will determine an incremental motion of the active joints of the mechanism so as to place the target element into the configuration shown using dotted lines in FIG. 10. Following the execution of the motion, the proximal end of the constrained element has been moved to pose 1015 and the distal end of the constrained element has been moved to pose 1016, as desired. Note that the location of the fulcrum point 1009 has moved relative to the constrained element 1003; the new distance 1018 from the origin of the coordinate frame 1015 to the fulcrum point 1009 is significantly shorter than it was before the motion. Since this distance comprises part of the characterization of the sliding fulcrum constraint on the motion of the constrained element 1003, the method 800 must update the characterization with the new value of this distance. In the example of FIG. 10 this can be done by intersecting the line passing through the origins of the coordinate frames 1005 and 1006 with the line passing through the origins of the coordinate frames 1015 and 1016. Techniques for determining the intersection of two lines in three dimensional space are well known in the art. The intersection of the two lines gives the updated location of the fulcrum point. The updated value of the distance 1018 can then be computed as the length of the vector connecting the origin of the coordinate frame 1015 and the fulcrum point 1009.
    [55] 55. Steps 840 through 860 of the method 800 then proceed as in the case of method 700.
    [56] 56. Referring to FIG. 9, there is shown a flow diagram of the preferred embodiment of the novel method of controlling a hybrid mechanism in the presence of constraints, dictated by the environment, the geometry of the mechanism or the nature of the task. Steps 905 through 935 of the preferred method 900 are identical to steps 805 through 835 of method 800 of FIG. 8. On the first iteration of the method 900, the method in step 940 performs a characterization of any existing task constraints on the motion of the mechanism. We will define and explain task constraints with the aid of FIG. 5.
    [57] 57. Referring to FIG. 5, there is shown a hybrid mechanism, comprising a rigid attachmcnt to the environment 501. two sets of active joints (502, 503-504), and one set of passive joints 510. The mechanism is constrained by a fixed environmental constraint 520 and two task constraints (530, 540). Task constraints are defined as restrictions on the motion of one or more elements of the mechanism due to the particular geometry of the mechanism (e.g., joint range task constraints) or specific requirements of the task (e.g., prohibited volume task constraint). A prohibited volume task constraint requires that no element of the mechanism enter a certain designated volume in the environment. This volume can correspond to an actual physical obstacle in the environment or it can correspond to a virtual object defined for the purposes of the manipulation task at hand. Referring to FIG. 5, task constraint 540 represents a joint range task constraint, and task constraint 530 represents a prohibited volume task constraint. Task constraints impose restrictions on the motion of the mechanism. Because only active joints of the mechanism can be used to move the mechanism, task constraints thus indirectly restrict the motion of the active joints of the mechanism. The exact nature of the restriction imposed on the active joints of the mechanism by a task constraint can be characterized by a set of inequality constraints on the motion of active joints of the mechanism, making use of the Jacobian mapping between infinitesimal joint displacements and the corresponding Cartesian displacements of a mechanism's element. For each existing task constraint on the motion of the mechanism, the method 900 first sets up a set of one or more inequality constraints on the Cartesian motion of one or more elements of the mechanism, so as to ensure that the task constraint will be respected. By making use of the Jacobian mapping, these inequaliy constraints on the Cartesian motion of the elements are mapped into the corresponding inequality constraints on the motion of the active joints of the mechanism. Referring to FIG. 9. the result of step 940 of method 900 is the union of all inequality constraints on the motion of the active joints of the mechanism, corresponding to all existing task constraints imposed on the motion of the mechanism.
    [58] 58. Steps 945 and 950 of the method 900 are identical to the corresponding steps 840 and 845 of method 800 of FIG.8. In step 955 of the method 900, the method uses the characterized constraints on the motion of active and passive joints as determined in steps 930--940 of the method 900 to determine an incremental motion of the active joints of the mechanism. The incremental active joint motion is determined such that the resulting incremental motion of the target element minimizes the difference between the desired and actual pose of the target element. This step is carried out in a manner similar to that described in step 850 of method 800 in FIG. 8. However, step 955 of the method 900 also uses the set of inequality constraints on the motion of the active joints which has been derived from the characterization of the existing task constraints on the motion of the mechanism in step 940. These inequality constraints are added to the formulation of the nonlinear optimization problem as described in the explanation of step 745 of method 700, and the nonlinear optimization problem is solved as before, using techniques known in the art.
    [59] 59. Step 960 of method 900 is identical to step 855 of method 800 in FIG. 8. As before, the method continues until the pose difference in step 915 becomes less than the predetermined amount and the method terminates at step 920.
    [60] 60. Referring to FIG. 6, there is shown a preferred embodiment of the present novel method of controlling a hybrid mechanism and an example of a particular class of hybrid mechanisms, which can be effectively controlled with the preferred method. The preferred method (665) of controlling a hybrid mechanism (690) is method 900 of FIG. 9. The method executes on a computer (660), which is connected to the hybrid mechanism via a set of control lines (615), which carry power and motion commands to the mechanism and bring information about the position of each of the mechanism's joints and status information back to the computer (660). The hybrid mechanism (690) comprises a rigid attachment (601) to the environment, a positioning sub-mechanism (620), connecting passive joints (630), and a constrained sub-mechanism (640). The distal end of the positioning sub-mechanism (positioning sub-mechanism distal end, (621) is connected to the proximal end of the constrained sub-mechanism (constrained sub-mechanism proximal end, (643) by the connecting passive joints (630). The positioning sub-mechanism (620) and the constrained sub-mechanism 640 comprise only active joints, whereas the connecting passive joints 630 comprise only passive joints. The constrained sub-mechanism (644) is constrained by a single environmental constraint (642), which restricts the motion of a constrained sub-element (641), belonging to the constrained sub-mechanism (640). The target element (650) is rigidly attached to the distal end of the constrained sub-mechanism (constrained sub-mechanism distal end, 641).
    [61] 61. In one preferred embodiment of the present invention the control method 900 is used to control a hybrid mechanism (690), as described above, where the positioning sub-mechanism is capable of positioning the positioning sub-mechanism distal end in three translational d.o.f. While a particular mechanical linkage is shown representing the positioning sub-mechanism in FIG. 6, a variety of different mechanical arrangements will satisfy this requirement. In particular, any robot mechanism having sufficient d.o.f. of motion can serve as the positioning mechanism. Further, in this preferred embodiment, the connecting passive joints 630 connecting the positioning sub-mechanism to the constrained sub-mechanism comprise a two d.o.f. passive universal joint. This type of joint is well known in the art and consists of a serial chain of three links connected by two revolute joints with the rotational axes of the two joints being perpendicular to each other.
    [62] 62. In another preferred embodiment of the present invention the constrained sub-mechanism comprises multiple sub-elements connected by active joints, with one of the constrained sub-elements corresponding to the constrained sub-element and another (possibly same) sub-element corresponding to the target element.
    [63] 63. In another preferred embodiment of the present invention the constrained sub-mechanism comprises a single sub-element, which corresponds to both the constrained sub-element and the target element.
    [64] 64. In another preferred embodiment of the present invention the hybrid mechanism (690) is surgical robot, i.e., a robot capable of performing surgery, and the target element is a surgical instrument.
    [65] 65. In another preferred embodiment of the present invention the hybrid mechanism (690) is a surgical robot for assisting in laparoscopic surgery. Further, in this preferred embodiment, the environmental constraint (642) is created by an incision in the abdominal wall of a human patient, through which a surgical instrument is inserted into the patient. In this preferred embodiment, the surgical instrument serves as the constrained sub-element (641) and the incision creates a man-made orifice which imposes a movable sliding fulcrum constraint on the motion of the surgical instrument. The movable nature of the constraint arises from the fact that the patient is breathing and the orifice thus moves with respect to the environment and the surgical robot. Further, in this preferred embodiment a number of task constraints can be specified, corresponding to the boundaries defining prohibited volumes, i.e., volumes which must not be entered by any part of the surgical robot. These volumes will normally correspond to the patient's organs other than those which are being operated on. The complement of the prohibited volume defines the allowable safe motion envelope of the surgical instrument. The surgical instrument is allowed to move anywhere in this volume.
    [66] 66. In another preferred embodiment of the present invention the hybrid mechanism (690) is a surgical robot, holding a surgical instrument which is constrained by a natural orifice, such as mouth or ear.
    [67] 67. Given this disclosure, other equivalent embodiments would become apparent to one skilled in the art. These embodiments are also within the contemplation of the inventors.
    权利要求:
    Claims (26)
    [1" id="US-20010001132-A1-CLM-00001] 1. A method of controlling a mechanism, the mechanism having one or more active joints and one or more passive joints, where the motion of one or more passive joints is constrained by one or more environmental constraints imposed on the mechanism, the method comprising the steps of:
    a. determining the positions of one or more of the joints of the mechanism;
    b. determining an actual pose of a target element;
    c. determining a pose difference between the actual pose and a desired pose of the target element;
    d. on the first iteration of the method, characterizing one or more environmental constraints on the motion of one or more of the passive joints;
    e. characterizing the effects of the environmental constraints, the motion of one or more of the active joints, and the motion of one or more passive joints of the mechanism on the motion of the target element;
    f. characterizing a desired incremental motion of the target element;
    g. using the characterized environmental constraints on the motion of the passive joints to determine an incremental active joint motion for each active joint in a set of one or more active joints of the mechanism, the incremental active joint motions producing an actual incremental motion of the target element, so that the difference between the desired incremental motion and the actual incremental motion of the target element is minimized;
    h. moving the set of active joints by the determined incremental active joint motion, respectively; and
    i. repeating steps a through h until the pose difference between the actual pose and the desired pose of the target element is less than a desired amount.
    [2" id="US-20010001132-A1-CLM-00002] 2. A method, as in
    claim 1 , where step d is replaced by:
    d. on the first iteration of the method, characterizing one or more environmental constraints on the motion of one or more of the passive joints, and on subsequent iterations of the method using the actual incremental motion of the target element to update the characterization of one or more environmental constraints on the motion of one or more of the passive joints.
    [3" id="US-20010001132-A1-CLM-00003] 3. A method, as in
    claim 1 , where step d is replaced by:
    d. on the first iteration of the method, characterizing one or more environmental constraints on the motion of one or more of the passive joints and characterizing and imposing one or more task constraints on the motion of one or more of the active joints of the mechanism, and on subsequent iterations of the method using the actual incremental motion of the target element to update the characterization of one or more environmental constraints on the motion of one or more of the passive joints,
    whereby the task constraints are also used in determining the incremental active joint motion in step h.
    [4" id="US-20010001132-A1-CLM-00004] 4. A method, as in
    claim 1 , where the mechanism comprises a first set of one or more passive joints and a second set of one or more passive joints, the two sets of passive joints separated by one or more active joints.
    [5" id="US-20010001132-A1-CLM-00005] 5. The method, as in
    claim 1 , where the target element is an end-element of the mechanism.
    [6" id="US-20010001132-A1-CLM-00006] 6. The method, as in
    claim 1 , where the mechanism comprises a robot manipulator with a distal robot end and a sub-mechanism with a proximal sub-mechanism end connected to the distal robot end.
    [7" id="US-20010001132-A1-CLM-00007] 7. The method, as in
    claim 6 , where the sub-mechanism is a single element.
    [8" id="US-20010001132-A1-CLM-00008] 8. The method, as in
    claim 1 , where one or more constrained element of the mechanism is constrained by a fixed constraint, the fixed constraint being located at a fixed location in the environment.
    [9" id="US-20010001132-A1-CLM-00009] 9. The method, as in
    claim 8 , where the fixed constraint is a fulcrum constraint.
    [10" id="US-20010001132-A1-CLM-00010] 10. The method, as in
    claim 8 , where the fixed constraint is a sliding constraint.
    [11" id="US-20010001132-A1-CLM-00011] 11. The method, as in
    claim 8 , where the fixed constraint is a sliding fulcrum constraint.
    [12" id="US-20010001132-A1-CLM-00012] 12. The method, as in
    claim 8 , where the fixed constraint is an orifice.
    [13" id="US-20010001132-A1-CLM-00013] 13. The method, as in
    claim 12 , where the orifice is an opening in an anatomical structure of a patient.
    [14" id="US-20010001132-A1-CLM-00014] 14. The method, as in
    claim 1 , where one or more constrained elements of the mechanism is constrained by a movable constraint, the movable constraint capable of moving within a bounded range in the environment.
    [15" id="US-20010001132-A1-CLM-00015] 15. The method, as in
    claim 14 , where the movable constraint is a fulcrum constraint.
    [16" id="US-20010001132-A1-CLM-00016] 16. The method, as in
    claim 14 , where the movable constraint is a sliding constraint.
    [17" id="US-20010001132-A1-CLM-00017] 17. The method, as in
    claim 14 , where the movable constraint is a sliding fulcrum constraint.
    [18" id="US-20010001132-A1-CLM-00018] 18. The method, as in
    claim 14 , where the movable constraint is an orifice.
    [19" id="US-20010001132-A1-CLM-00019] 19. The method, as in
    claim 18 , where the orifice is an opening in an anatomical structure of a patient.
    [20" id="US-20010001132-A1-CLM-00020] 20. A method of controlling a mechanism, the method comprising the steps of:
    a. determining the positions of all of the one or more joints of the mechanism, the mechanism comprising a positioning sub-mechanism having only active joints, the positioning sub-mechanism further having a positioning sub-mechanism distal end, the mechanism further comprising a constrained sub-mechanism having only active joints and one or more sub-elements, one of the sub-elements being a constrained sub-element that is constrained by an environmental constraint, the constrained sub-mechanism further having a constrained sub-mechanism proximal end and a constrained sub-mechanism distal end, the mechanism further comprising connecting passive joints that connect the constrained sub-mechanism proximal end to the positioning sub-mechanism distal end;
    b. determining an actual pose of a target element, the target element being rigidly attached to the constrained sub-mechanism distal end;
    c. determining a pose difference between the actual pose and a desired pose of the target element;
    d. on the first iteration of the method, characterizing the environmental constraint on the motion of the connecting passive joints and characterizing and imposing one or more task constraints on the motion of one or more of the active joints of the mechanism, and on subsequent iterations of the method using the actual incremental motion of the target element to update the characterization of the environmental constraint on the motion of the connecting passive joints;
    e. characterizing the effects of the environmental constraint, the motion of the active joints, and the motion of the connecting passive joints on the motion of the target element;
    f. characterizing a desired incremental motion of the target element;
    g. using the characterized environmental constraint on the motion of the connecting passive joints and using the characterized task constraints on the motion of the active joints to determine an incremental active joint motion for each active joint of the mechanism, the incremental active joint motions producing an actual incremental motion of the target element, so that the difference between the desired incremental motion and the actual incremental motion is minimized;
    h. moving the active joints by the determined incremental active joint motion, respectively; and
    i. repeating steps a through h until the pose difference between the actual and the desired pose of the target element is less than a desired amount.
    [21" id="US-20010001132-A1-CLM-00021] 21. The method, as in
    claim 20 , where the positioning sub-mechanism is capable of positioning the positioning sub-mechanism distal end in three translational degrees of freedom.
    [22" id="US-20010001132-A1-CLM-00022] 22. The method, as in
    claim 20 , where the connecting passive joints of the mechanism comprise a universal joint with two revolute degrees of freedom.
    [23" id="US-20010001132-A1-CLM-00023] 23. The method, as in
    claim 20 , where the mechanism is a robot capable of performing surgery.
    [24" id="US-20010001132-A1-CLM-00024] 24. The method, as in
    claim 23 , where the target element is a surgical instrument.
    [25" id="US-20010001132-A1-CLM-00025] 25. The method, as in
    claim 20 , where the environmental constraint is created by the constrained element passing through an incision in an anatomical structure of a patient.
    [26" id="US-20010001132-A1-CLM-00026] 26. The method, as in
    claim 20 , where the task constraints represent the boundaries of an allowable safe motion envelope of the target element.
    类似技术:
    公开号 | 公开日 | 专利标题
    US6226566B1|2001-05-01|Method of constrained cartesian control of robotic mechanisms with active and passive joints
    Funda et al.1996|Constrained Cartesian motion control for teleoperated surgical robots
    US6594552B1|2003-07-15|Grip strength with tactile feedback for robotic surgery
    Funda et al.1995|Control and evaluation of a 7-axis surgical robot for laparoscopy
    Li et al.2005|A constrained optimization approach to virtual fixtures
    Dalvand et al.2013|Motion control analysis of a parallel robot assisted minimally invasive surgery/microsurgery system |
    US20130190774A1|2013-07-25|Mechanical positioning system for surgical instruments
    Funda et al.1993|Optimal motion control for teleoperated surgical robots
    Konietschke et al.2004|Manipulability and accuracy measures for a medical robot in minimally invasive surgery
    Niccolini et al.2012|Real-time control architecture of a novel Single-Port lapaRoscopy bimaNual roboT |
    Degirmenci et al.2015|Design and control of a parallel linkage wrist for robotic microsurgery
    Xing et al.2019|Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task with visual teleoperation assists
    Pillai et al.2020|Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting
    Muñoz et al.2005|Pivoting motion control for a laparoscopic assistant robot and human clinical trials
    Konietschke et al.2003|Optimal Design of a Medical Robot for Minimally Invasive Surgery, 2
    Muñoz et al.2004|Adaptive Cartesian motion control approach for a surgical robotic cameraman
    Almusawi et al.2019|Artificial Neural Network Based Kinematics: Case Study on Robotic Surgery
    Stolka et al.2006|Improving navigation precision of milling operations in surgical robotics
    Mitsuishi et al.2008|A neurosurgical robot for the deep surgical field characterized by an offset-type forceps and natural input capability
    Mudunuri2010|Autonomous camera control system for surgical robots
    Pisla et al.2021|A novel control architecture for robotic-assisted single incision laparoscopic surgery
    Huang2019|Kinematic Calibration for da Vinci Surgical Robot
    Ganapathy et al.2018|A new surgical robotic system model for neuroendoscopic surgery
    Remazeilles et al.2018|Inverse kinematics methods for flexible arm control
    Faraz et al.2000|Kinematic modelling and trajectory planning for a tele-laparoscopic manipulating system
    同族专利:
    公开号 | 公开日
    US6393340B2|2002-05-21|
    US5887121A|1999-03-23|
    US6226566B1|2001-05-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20080214260A1|2007-03-02|2008-09-04|National Taiwan University Of Science And Technology|Board game system utilizing a robot arm|
    US20100094312A1|2006-10-25|2010-04-15|The European Atomic Energy Community , Represented By The European Commission|Force estimation for a minimally invasive robotic surgery system|
    FR2972132A1|2011-03-02|2012-09-07|Gen Electric|Device for assisting practitioner to handle echographic probe in three-dimensional mammography imaging assembly to e.g. analyze lesion in breast of patient, has motor unit that does not entirely satisfy constraint, independent from handling|
    US9266239B2|2005-12-27|2016-02-23|Intuitive Surgical Operations, Inc.|Constraint based control in a minimally invasive surgical apparatus|
    US20190125485A1|2016-03-29|2019-05-02|Sony Corporation|Medical supporting arm control apparatus, medical supporting arm apparatus control method, and medical system|CA1233222A|1984-03-09|1988-02-23|Nobuhiko Onda|Movable apparatus driving system|
    US4826392A|1986-03-31|1989-05-02|California Institute Of Technology|Method and apparatus for hybrid position/force control of multi-arm cooperating robots|
    US4860215A|1987-04-06|1989-08-22|California Institute Of Technology|Method and apparatus for adaptive force and position control of manipulators|
    US4887021A|1989-01-31|1989-12-12|Honeywell Inc.|Precision noise spike elimination circuit for pulse width modulators and PWM inverters|
    US5253189A|1989-06-13|1993-10-12|Schlumberger Technologies, Inc.|Qualitative kinematics|
    US5297057A|1989-06-13|1994-03-22|Schlumberger Technologies, Inc.|Method and apparatus for design and optimization for simulation of motion of mechanical linkages|
    US5043929A|1989-06-13|1991-08-27|Schlumberger Technologies, Inc.|Closed-form kinematics|
    US5279309A|1991-06-13|1994-01-18|International Business Machines Corporation|Signaling device and method for monitoring positions in a surgical operation|
    US5430643A|1992-03-11|1995-07-04|The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration|Configuration control of seven degree of freedom arms|
    US5377310A|1992-04-03|1994-12-27|The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration|Controlling under-actuated robot arms using a high speed dynamics|
    US5294873A|1992-10-27|1994-03-15|The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration|Kinematic functions for redundancy resolution using configuration control|
    US5397323A|1992-10-30|1995-03-14|International Business Machines Corporation|Remote center-of-motion robot for surgery|
    US5502363A|1994-01-04|1996-03-26|University Of Maryland-Baltimore County|Apparatus for controlling angular positioning and stiffness modulations of joint of robotic manipulator|
    US5887121A|1995-04-21|1999-03-23|International Business Machines Corporation|Method of constrained Cartesian control of robotic mechanisms with active and passive joints|
    US6047610A|1997-04-18|2000-04-11|Stocco; Leo J|Hybrid serial/parallel manipulator|US5887121A|1995-04-21|1999-03-23|International Business Machines Corporation|Method of constrained Cartesian control of robotic mechanisms with active and passive joints|
    US6714841B1|1995-09-15|2004-03-30|Computer Motion, Inc.|Head cursor control interface for an automated endoscope system for optimal positioning|
    US6132441A|1996-11-22|2000-10-17|Computer Motion, Inc.|Rigidly-linked articulating wrist with decoupled motion transmission|
    US5855583A|1996-02-20|1999-01-05|Computer Motion, Inc.|Method and apparatus for performing minimally invasive cardiac procedures|
    US5762458A|1996-02-20|1998-06-09|Computer Motion, Inc.|Method and apparatus for performing minimally invasive cardiac procedures|
    US6436107B1|1996-02-20|2002-08-20|Computer Motion, Inc.|Method and apparatus for performing minimally invasive surgical procedures|
    US6699177B1|1996-02-20|2004-03-02|Computer Motion, Inc.|Method and apparatus for performing minimally invasive surgical procedures|
    US7053752B2|1996-08-06|2006-05-30|Intuitive Surgical|General purpose distributed operating room control system|
    US6646541B1|1996-06-24|2003-11-11|Computer Motion, Inc.|General purpose distributed operating room control system|
    US6911916B1|1996-06-24|2005-06-28|The Cleveland Clinic Foundation|Method and apparatus for accessing medical data over a network|
    US6496099B2|1996-06-24|2002-12-17|Computer Motion, Inc.|General purpose distributed operating room control system|
    US6167296A|1996-06-28|2000-12-26|The Board Of Trustees Of The Leland Stanford Junior University|Method for volumetric image navigation|
    US20040236352A1|1997-09-22|2004-11-25|Yulun Wang|Method and apparatus for performing minimally invasive cardiac procedures|
    US7713190B2|1998-02-24|2010-05-11|Hansen Medical, Inc.|Flexible instrument|
    US7766894B2|2001-02-15|2010-08-03|Hansen Medical, Inc.|Coaxial catheter system|
    US6665554B1|1998-11-18|2003-12-16|Steve T. Charles|Medical manipulator for use with an imaging device|
    US6659939B2|1998-11-20|2003-12-09|Intuitive Surgical, Inc.|Cooperative minimally invasive telesurgical system|
    US8527094B2|1998-11-20|2013-09-03|Intuitive Surgical Operations, Inc.|Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures|
    US6398726B1|1998-11-20|2002-06-04|Intuitive Surgical, Inc.|Stabilizer for robotic beating-heart surgery|
    DE69918569T2|1998-11-23|2005-03-24|Microdexterity Systems Inc., Memphis|SURGICAL MANIPULATOR|
    US8944070B2|1999-04-07|2015-02-03|Intuitive Surgical Operations, Inc.|Non-force reflecting method for providing tool force information to a user of a telesurgical system|
    US6341246B1|1999-03-26|2002-01-22|Kuka Development Laboratories, Inc.|Object oriented motion system|
    US6626899B2|1999-06-25|2003-09-30|Nidus Medical, Llc|Apparatus and methods for treating tissue|
    US7217240B2|1999-10-01|2007-05-15|Intuitive Surgical, Inc.|Heart stabilizer|
    US6702805B1|1999-11-12|2004-03-09|Microdexterity Systems, Inc.|Manipulator|
    DE19961971B4|1999-12-22|2009-10-22|Forschungszentrum Karlsruhe Gmbh|Device for safely automatically tracking an endoscope and tracking an instrument|
    US6726699B1|2000-08-15|2004-04-27|Computer Motion, Inc.|Instrument guide|
    EP2269500B1|2000-11-28|2017-06-21|Intuitive Surgical Operations, Inc.|Endoscopic beating-heart stabilizer and vessel occlusion fastener|
    AU2002248360A1|2001-01-16|2002-08-19|Microdexterity Systems, Inc.|Surgical manipulator|
    US7892243B2|2001-01-16|2011-02-22|Microdexterity Systems, Inc.|Surgical manipulator|
    US20020165524A1|2001-05-01|2002-11-07|Dan Sanchez|Pivot point arm for a robotic system used to perform a surgical procedure|
    US6728599B2|2001-09-07|2004-04-27|Computer Motion, Inc.|Modularity system for computer assisted surgery|
    US7203835B2|2001-11-13|2007-04-10|Microsoft Corporation|Architecture for manufacturing authenticatable gaming systems|
    US6793653B2|2001-12-08|2004-09-21|Computer Motion, Inc.|Multifunctional handle for a medical robotic system|
    US6852107B2|2002-01-16|2005-02-08|Computer Motion, Inc.|Minimally invasive surgical training using robotics and tele-collaboration|
    US6951535B2|2002-01-16|2005-10-04|Intuitive Surgical, Inc.|Tele-medicine system that transmits an entire state of a subsystem|
    US8010180B2|2002-03-06|2011-08-30|Mako Surgical Corp.|Haptic guidance system and method|
    US11202676B2|2002-03-06|2021-12-21|Mako Surgical Corp.|Neural monitor-based dynamic haptics|
    US7206627B2|2002-03-06|2007-04-17|Z-Kat, Inc.|System and method for intra-operative haptic planning of a medical procedure|
    US7831292B2|2002-03-06|2010-11-09|Mako Surgical Corp.|Guidance system and method for surgical procedures with improved feedback|
    US7155316B2|2002-08-13|2006-12-26|Microbotics Corporation|Microsurgical robot system|
    US8007511B2|2003-06-06|2011-08-30|Hansen Medical, Inc.|Surgical instrument design|
    US6836702B1|2003-06-11|2004-12-28|Abb Ab|Method for fine tuning of a robot program|
    US20060036162A1|2004-02-02|2006-02-16|Ramin Shahidi|Method and apparatus for guiding a medical instrument to a subsurface target site in a patient|
    US7976539B2|2004-03-05|2011-07-12|Hansen Medical, Inc.|System and method for denaturing and fixing collagenous tissue|
    EP2384715B1|2004-03-05|2015-07-08|Hansen Medical, Inc.|Robotic catheter system|
    US20050246064A1|2004-04-29|2005-11-03|Smith Gregory C|Method for detecting position errors using a motion detector|
    FR2871363B1|2004-06-15|2006-09-01|Medtech Sa|ROBOTIZED GUIDING DEVICE FOR SURGICAL TOOL|
    US7904202B2|2004-10-25|2011-03-08|University Of Dayton|Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination|
    EP1862876B1|2005-05-13|2010-03-17|Toyota Jidosha Kabushiki Kaisha|Path planning device|
    US8398541B2|2006-06-06|2013-03-19|Intuitive Surgical Operations, Inc.|Interactive user interfaces for robotic minimally invasive surgical systems|
    JP4999012B2|2005-06-06|2012-08-15|インチュイティブサージカル，インコーポレイテッド|Laparoscopic ultrasonic robotic surgical system|
    WO2007005976A1|2005-07-01|2007-01-11|Hansen Medical, Inc.|Robotic catheter system|
    CN103142309B|2005-10-20|2015-06-17|直观外科手术操作公司|Auxiliary image display and manipulation on computer display in medical robotic system|
    US10893912B2|2006-02-16|2021-01-19|Globus Medical Inc.|Surgical tool systems and methods|
    US11045267B2|2012-06-21|2021-06-29|Globus Medical, Inc.|Surgical robotic automation with tracking markers|
    US10231791B2|2012-06-21|2019-03-19|Globus Medical, Inc.|Infrared signal based position recognition system for use with a robot-assisted surgery|
    US10136954B2|2012-06-21|2018-11-27|Globus Medical, Inc.|Surgical tool systems and method|
    US8219178B2|2007-02-16|2012-07-10|Catholic Healthcare West|Method and system for performing invasive medical procedures using a surgical robot|
    EP2023844B1|2006-05-19|2017-06-21|Mako Surgical Corp.|Apparatus for controlling a haptic device|
    US8620473B2|2007-06-13|2013-12-31|Intuitive Surgical Operations, Inc.|Medical robotic system with coupled control modes|
    US9469034B2|2007-06-13|2016-10-18|Intuitive Surgical Operations, Inc.|Method and system for switching modes of a robotic system|
    US20090192523A1|2006-06-29|2009-07-30|Intuitive Surgical, Inc.|Synthetic representation of a surgical instrument|
    KR101477125B1|2006-06-13|2014-12-29|인튜어티브 서지컬 인코포레이티드|Minimally invasive surgical system|
    US9138129B2|2007-06-13|2015-09-22|Intuitive Surgical Operations, Inc.|Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide|
    CA2860487C|2006-06-14|2019-03-26|Macdonald, Dettwiler And Associates Inc.|Serially jointed manipulator arm|
    US8444631B2|2007-06-14|2013-05-21|Macdonald Dettwiler & Associates Inc|Surgical manipulator|
    US9789608B2|2006-06-29|2017-10-17|Intuitive Surgical Operations, Inc.|Synthetic representation of a surgical robot|
    US9718190B2|2006-06-29|2017-08-01|Intuitive Surgical Operations, Inc.|Tool position and identification indicator displayed in a boundary area of a computer display screen|
    US10008017B2|2006-06-29|2018-06-26|Intuitive Surgical Operations, Inc.|Rendering tool information as graphic overlays on displayed images of tools|
    EP1932629B1|2006-12-11|2019-04-24|ABB Research Ltd.|A method and a control system for monitoring the condition of an industrial robot|
    US20080163118A1|2006-12-29|2008-07-03|Jason Wolf|Representation of file relationships|
    US10350013B2|2012-06-21|2019-07-16|Globus Medical, Inc.|Surgical tool systems and methods|
    US10357184B2|2012-06-21|2019-07-23|Globus Medical, Inc.|Surgical tool systems and method|
    US11116576B2|2012-06-21|2021-09-14|Globus Medical Inc.|Dynamic reference arrays and methods of use|
    US7950306B2|2007-02-23|2011-05-31|Microdexterity Systems, Inc.|Manipulator|
    US9883818B2|2007-06-19|2018-02-06|Accuray Incorporated|Fiducial localization|
    US20090003528A1|2007-06-19|2009-01-01|Sankaralingam Ramraj|Target location by tracking of imaging device|
    US10258425B2|2008-06-27|2019-04-16|Intuitive Surgical Operations, Inc.|Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide|
    US9089256B2|2008-06-27|2015-07-28|Intuitive Surgical Operations, Inc.|Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide|
    US8864652B2|2008-06-27|2014-10-21|Intuitive Surgical Operations, Inc.|Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip|
    US8060250B2|2008-12-15|2011-11-15|GM Global Technology Operations LLC|Joint-space impedance control for tendon-driven manipulators|
    US8170718B2|2008-12-18|2012-05-01|GM Global Technology Operations LLC|Multiple priority operational space impedance control|
    US9254123B2|2009-04-29|2016-02-09|Hansen Medical, Inc.|Flexible and steerable elongate instruments with shape control and support elements|
    US20100275718A1|2009-04-29|2010-11-04|Microdexterity Systems, Inc.|Manipulator|
    US9492927B2|2009-08-15|2016-11-15|Intuitive Surgical Operations, Inc.|Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose|
    US9084623B2|2009-08-15|2015-07-21|Intuitive Surgical Operations, Inc.|Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide|
    US8442684B2|2009-09-22|2013-05-14|GM Global Technology Operations LLC|Integrated high-speed torque control system for a robotic joint|
    US8525460B2|2010-02-02|2013-09-03|GM Global Technology Operations LLC|Architecture for robust force and impedance control of series elastic actuators|
    US8918211B2|2010-02-12|2014-12-23|Intuitive Surgical Operations, Inc.|Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument|
    US9367795B2|2010-02-25|2016-06-14|Honda Motor Co., Ltd.|Momentum-based balance controller for humanoid robots on non-level and non-stationary ground|
    FR2960074B1|2010-05-14|2012-06-15|Staubli Sa Ets|METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL|
    WO2012100211A2|2011-01-20|2012-07-26|Hansen Medical, Inc.|System and method for endoluminal and transluminal therapy|
    US9308050B2|2011-04-01|2016-04-12|Ecole Polytechnique Federale De Lausanne |Robotic system and method for spinal and other surgeries|
    US9138166B2|2011-07-29|2015-09-22|Hansen Medical, Inc.|Apparatus and methods for fiber integration and registration|
    IN2014KN00937A|2011-11-04|2015-10-09|Univ Johns Hopkins||
    US8996169B2|2011-12-29|2015-03-31|Mako Surgical Corp.|Neural monitor-based dynamic haptics|
    WO2013192598A1|2012-06-21|2013-12-27|Excelsius Surgical, L.L.C.|Surgical robot platform|
    US20140148673A1|2012-11-28|2014-05-29|Hansen Medical, Inc.|Method of anchoring pullwire directly articulatable region in catheter|
    US10507066B2|2013-02-15|2019-12-17|Intuitive Surgical Operations, Inc.|Providing information of tools by filtering image areas adjacent to or on displayed images of the tools|
    US20140277334A1|2013-03-14|2014-09-18|Hansen Medical, Inc.|Active drives for robotic catheter manipulators|
    US9326822B2|2013-03-14|2016-05-03|Hansen Medical, Inc.|Active drives for robotic catheter manipulators|
    US20140276936A1|2013-03-15|2014-09-18|Hansen Medical, Inc.|Active drive mechanism for simultaneous rotation and translation|
    US9408669B2|2013-03-15|2016-08-09|Hansen Medical, Inc.|Active drive mechanism with finite range of motion|
    US9283048B2|2013-10-04|2016-03-15|KB Medical SA|Apparatus and systems for precise guidance of surgical tools|
    US10039605B2|2014-02-11|2018-08-07|Globus Medical, Inc.|Sterile handle for controlling a robotic surgical system from a sterile field|
    WO2015142801A1|2014-03-17|2015-09-24|Intuitive Surgical Operations, Inc.|Methods of controlling motion of under-actuated joints in a surgical set-up structure|
    KR20160135278A|2014-03-17|2016-11-25|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|Constant force spring with active bias|
    US10046140B2|2014-04-21|2018-08-14|Hansen Medical, Inc.|Devices, systems, and methods for controlling active drive systems|
    WO2015162256A1|2014-04-24|2015-10-29|KB Medical SA|Surgical instrument holder for use with a robotic surgical system|
    WO2016008880A1|2014-07-14|2016-01-21|KB Medical SA|Anti-skid surgical instrument for use in preparing holes in bone tissue|
    US10759634B2|2014-08-08|2020-09-01|GM Global Technology Operations LLC|Electromechanical system for interaction with an operator|
    US10013808B2|2015-02-03|2018-07-03|Globus Medical, Inc.|Surgeon head-mounted display apparatuses|
    US10166080B2|2015-06-12|2019-01-01|The Johns Hopkins University|Cooperatively-controlled surgical robotic system with redundant force sensing|
    WO2017015235A1|2015-07-17|2017-01-26|The Johns Hopkins University|Delta mechanism with enhanced torsional stiffness|
    US10058394B2|2015-07-31|2018-08-28|Globus Medical, Inc.|Robot arm and methods of use|
    US10080615B2|2015-08-12|2018-09-25|Globus Medical, Inc.|Devices and methods for temporary mounting of parts to bone|
    US10034716B2|2015-09-14|2018-07-31|Globus Medical, Inc.|Surgical robotic systems and methods thereof|
    US9771092B2|2015-10-13|2017-09-26|Globus Medical, Inc.|Stabilizer wheel assembly and methods of use|
    US10117632B2|2016-02-03|2018-11-06|Globus Medical, Inc.|Portable medical imaging system with beam scanning collimator|
    US11058378B2|2016-02-03|2021-07-13|Globus Medical, Inc.|Portable medical imaging system|
    US10842453B2|2016-02-03|2020-11-24|Globus Medical, Inc.|Portable medical imaging system|
    US10448910B2|2016-02-03|2019-10-22|Globus Medical, Inc.|Portable medical imaging system|
    US10866119B2|2016-03-14|2020-12-15|Globus Medical, Inc.|Metal detector for detecting insertion of a surgical device into a hollow tube|
    US10463439B2|2016-08-26|2019-11-05|Auris Health, Inc.|Steerable catheter with shaft load distributions|
    KR20190055799A|2016-10-14|2019-05-23|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|System and method of applying preload tension for surgical instruments|
    JP2018075121A|2016-11-08|2018-05-17|ソニー株式会社|Medical support arm apparatus|
    US10335946B2|2017-02-17|2019-07-02|Massachusetts Institute Of Technology|Compositional impedance programming for robots|
    US11135015B2|2017-07-21|2021-10-05|Globus Medical, Inc.|Robot surgical platform|
    JP6778242B2|2017-11-09|2020-10-28|グローバス メディカル インコーポレイティッド|Surgical robot systems for bending surgical rods, and related methods and equipment|
    US11134862B2|2017-11-10|2021-10-05|Globus Medical, Inc.|Methods of selecting surgical implants and related devices|
    US20190254753A1|2018-02-19|2019-08-22|Globus Medical, Inc.|Augmented reality navigation systems for use with robotic surgical systems and methods of their use|
    US10573023B2|2018-04-09|2020-02-25|Globus Medical, Inc.|Predictive visualization of medical imaging scanner component movement|
    US11045179B2|2019-05-20|2021-06-29|Global Medical Inc|Robot-mounted retractor system|
    CN111267095A|2020-01-14|2020-06-12|大连理工大学|Mechanical arm grabbing control method based on binocular vision|
    US11207150B2|2020-02-19|2021-12-28|Globus Medical, Inc.|Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment|
    US11153555B1|2020-05-08|2021-10-19|Globus Medical Inc.|Extended reality headset camera system for computer assisted navigation in surgery|
    法律状态:
    2002-05-03| STCF| Information on status: patent grant|Free format text: PATENTED CASE |
    2005-09-14| FPAY| Fee payment|Year of fee payment: 4 |
    2009-10-21| FPAY| Fee payment|Year of fee payment: 8 |
    2013-12-27| REMI| Maintenance fee reminder mailed|
    2014-04-11| FPAY| Fee payment|Year of fee payment: 12 |
    2014-04-11| SULP| Surcharge for late payment|Year of fee payment: 11 |
    优先权:
    申请号 | 申请日 | 专利标题
    US42729395A| true| 1995-04-21|1995-04-21||
    US08/896,218|US5887121A|1995-04-21|1997-07-17|Method of constrained Cartesian control of robotic mechanisms with active and passive joints|
    US09/251,932|US6226566B1|1995-04-21|1999-02-18|Method of constrained cartesian control of robotic mechanisms with active and passive joints|
    US09/748,850|US6393340B2|1995-04-21|2000-12-28|Robotic mechanisms with active and passive joints|US09/748,850| US6393340B2|1995-04-21|2000-12-28|Robotic mechanisms with active and passive joints|
    [返回顶部]