Configurable robotic surgical system with virtual rail and flexible endoscope
Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.
1. A method operable by a robotic system comprising one or more processors, a first robotic arm coupled to a first tool base, and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other, the method comprising:
receiving a user input indicative of a desired mode of movement of the first robotic arm;
when the user input indicates admittance mode as the desired mode of movement, receiving a force feedback signal based on a force exerted by a user on the first robotic arm, the force feedback signal indicative of an intended movement of the first robotic arm by the user;
determining, by the one or more processors, a first movement vector for the first tool base based on the force feedback signal;
providing, from the one or more processors to the first robotic arm, a first command to move the first tool base along the first movement vector; and
providing, from the one or more processors to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance between the first tool base and the second tool base;
wherein providing the first command comprises providing a command to pivot the first tool base about a point on a line that extends between the first and second tool bases and providing the second command comprises providing a command to pivot the second tool base about the point on the line formed between the first and second tool bases;
wherein the point on the line is beyond the first and second tool bases.
2. The method of claim 1 , wherein the first tool base is coupled to a first surgical tool and the second tool base is coupled to a second surgical tool and wherein the first and second surgical tools are arranged in a telescoping configuration.
3. The method of claim 1 , wherein the first movement vector and the second movement vector are parallel.
4. The method of claim 1 , wherein the first movement vector and the second movement vector are different.
5. The method of claim 1 , wherein providing the first command and providing the second command comprises commanding the first and second tool bases to move in unison.
6. The method of claim 1 , wherein the user input comprises one or more of: a touch input, a button signal, a switch signal, a pedal signal, a joystick signal, a voice command, or a detected light.
7. A method operable by a robotic system comprising one or more processors, a first robotic arm coupled to a first tool base, and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other, the method comprising:
receiving a user input indicative of a desired mode of movement of the first robotic arm;
when the user input indicates admittance mode as the desired mode of movement, receiving a force feedback signal based on a force exerted by a user on the first robotic arm, the force feedback signal indicative of an intended movement of the first robotic arm by the user;
determining, by the one or more processors, a first movement vector for the first tool base based on the force feedback signal;
providing, from the one or more processors to the first robotic arm, a first command to move the first tool base along the first movement vector; and
providing, from the one or more processors to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance between the first tool base and the second tool base;
wherein providing the first command comprises providing a command to pivot the first tool base about a point on a line that extends between the first and second tool bases and providing the second command comprises providing a command to pivot the second tool base about the point on the line formed between the first and second tool bases;
wherein the point on the line is between the first and second tool bases.
8. A system configured to control a surgical robotic system, the system comprising:
at least one computer-readable memory having stored thereon executable instructions; and
one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
determine a button or switch has been activated to cause the surgical robotic system to enter an admittance mode;
when the robotic surgical system is in the admittance mode, receive a force feedback signal based on a force exerted by a user on the surgical robotic system comprising a first robotic arm coupled to a first tool base and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other;
determine a first movement vector for the first tool base based on the force feedback signal;
provide to the first robotic arm, a first command to move the first tool base along the first movement vector; and
provide to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance between the first tool base and the second tool base;
wherein the one or more processors in communication with the at least one computer-readable memory are configured to execute the instructions to cause the system to at least pivot the first and second tool bases of the first and second robotic arms about a point on a line extending between the first and second tool bases;
wherein the point on the line is beyond the first and second tool bases.
9. The system of claim 8 , wherein the predetermined distance between the first and second tool bases comprises a linear alignment between the first and second tool bases.
10. The system of claim 8 , wherein the one or more processors in communication with the at least one computer-readable memory are configured to execute the instructions to cause the system to at least: move the first and second tool bases in unison.
11. The system of claim 8 , wherein the first movement vector and the second movement vector have the same magnitude.
12. The system of claim 8 , wherein the first movement vector and the second movement vector are different.
13. A system configured to control a surgical robotic system, the system comprising:
at least one computer-readable memory having stored thereon executable instructions; and
one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
determine a button or switch has been activated to cause the surgical robotic system to enter an admittance mode;
when the robotic surgical system is in the admittance mode, receive a force feedback signal based on a force exerted by a user on the surgical robotic system comprising a first robotic arm coupled to a first tool base and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other;
determine a first movement vector for the first tool base based on the force feedback signal;
provide to the first robotic arm, a first command to move the first tool base along the first movement vector;
provide to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance between the first tool base and the second tool base; and
pivot the first and second tool bases of the first and second robotic arms about a point on a line extending between the first and second tool bases;
wherein the point on the line is between the first and second tool bases.
14. A system configured to move a surgical robotic system comprising a first robotic arm and a second robotic arm, the system comprising:
a controller coupled to the first and second arms;
at least one computer-readable memory having stored thereon executable instructions; and
one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
detect a force exerted by a user on the surgical robotic system;
determine a first movement vector for a first tool base based on the force exerted by the user, wherein the first movement vector facilitates a pivot movement of the first tool base about a pivot point on a virtual rail that extends between the first tool base and a second tool base, wherein the pivot point on the virtual rail is between the first and second tool bases;
move the first tool base with the first surgical arm along the first movement vector; and
move the second tool base with the second robotic arm along a second movement vector to maintain a predetermined distance between the first tool base and the second tool base while facilitating a pivot movement of the second tool base about the pivot point.
15. The system of claim 14 , wherein the first movement vector and the second movement vector are parallel.
16. The system of claim 14 , wherein the first movement vector and the second movement vector are different.
17. The system of claim 14 , wherein the one or more processors in communication with the at least one computer-readable memory are configured to execute instructions to register a distance of the first tool base of the first robotic arm with respect to the second tool base of the second robotic arm.
18. The system of claim 14 , wherein the one or more processors in communication with the at least one computer-readable memory are configured to execute instructions to keep an axial distance between the first and second tool bases constant as the first tool base moves along the first movement vector and the second tool base moves along the second movement vector.
19. The system of claim 14 , wherein the one or more processors in communication with the at least one computer-readable memory are configured to execute instructions that keep an axial distance between the first and second tool bases constant as the first tool base moves along the first movement vector and the second tool base moves along the second movement vector.
20. The system of claim 14 , wherein the one or more processors in communication with the at least one computer-readable memory are configured to automatically move the first tool base with first surgical arm in response to the detected force.
21. The system of claim 14 , wherein the one or more processors in communication with the at least one computer-readable memory are configured to simultaneously move the second tool base with the first tool base to maintain the predetermined distance of the first tool base and the second tool base.
22. A system configured to control a surgical robotic system, the system comprising:
at least one computer-readable memory having stored thereon executable instructions; and
one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
receive a force feedback signal based on a force exerted by a user on the surgical robotic system comprising a first robotic arm coupled to a first tool base and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other;
provide to the first robotic arm, a first command to move the first tool base along a first movement vector based on the force feedback signal;
provide to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance of the first tool base and the second tool base; and
pivot the first and second tool bases of the first and second robotic arms about a point on a line extending between the first and second tool bases, wherein the point on the line is beyond the first and second tool bases.