Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.
1 . A system comprising:
a robotic arm, the robotic arm comprising:
a plurality of linkages, the plurality of linkages including:
a first linkage,
a second linkage coupled with the first linkage, and
a third linkage,
a plurality of joints, at least some joints of the plurality of joints movably coupling the plurality of linkages together, the plurality of joints including:
a first prismatic joint configured to provide linear movement along a first axis,
a second prismatic joint configured to provide linear movement along a second axis, the second linkage being movable relative to the third linkage, along the second axis, via the second prismatic joint, and
at least one revolute joint, and
a first instrument driver coupled with the first linkage via the first prismatic joint, the first instrument driver being operable to manipulate a first medical instrument, the first instrument driver being movable relative to the first linkage, along the first axis, via the first prismatic joint.
2 . The system of claim 1 , the at least one revolute joint including a first revolute joint, the first linkage being pivotable relative to the second linkage via the first revolute joint.
3 . The system of claim 2 , the first linkage being directly coupled with the second linkage via the first revolute joint.
4 . The system of claim 1 , the second linkage being directly coupled with the third linkage via the second prismatic joint.
5 . The system of claim 1 , the robotic arm being operable to position the plurality of linkages such that the second axis is obliquely oriented relative to the first axis.
6 . The system of claim 1 , the at least one revolute joint including a first revolute joint operable to rotate the first medical instrument about a yaw axis or about a pitch axis.
7 . The system of claim 1 , the first medical instrument defining a longitudinal axis, the first instrument driver being operable to drive at least a portion of the first medical instrument along the longitudinal axis as the first instrument driver moves relative to the first linkage along the first axis.
8 . The system of claim 7 , the first axis being parallel to the longitudinal axis of the first medical instrument.
9 . The system of claim 1 , further comprising:
a patient support; and
a plurality of robotic arms, the plurality of robotic arms including the robotic arm, the plurality of robotic arms being coupled with the patient support.
10 . The system of claim 9 , further comprising a column supporting the patient support, the plurality of robotic arms being coupled with patient support via the column.
11 . The system of claim 1 , the robotic arm being operable to slidably position a second medical instrument within the first medical instrument in a coaxial arrangement.
12 . The system of claim 11 , the robotic arm including a second instrument driver, the second instrument driver being operable to manipulate the second medical instrument.
13 . The system of claim 12 , the second instrument driver being coupled with the first linkage.
14 . The system of claim 1 , further comprising a control unit configured to cause the robotic arm to advance a shaft of the first medical instrument through a body opening in a patient.
15 . The system of claim 14 , the control unit being further configured to:
determine a remote center location that corresponds to an intersection between the shaft and the body opening, and
constrain the robotic arm so that pivotal movement of the shaft is fixed through the remote center location while the robotic arm manipulates the first medical instrument.
16 . The system of claim 1 , each joint of the plurality of joints comprising an independently actuatable motor, the system further comprising a control unit configured to control positioning of the robotic arm based on actuation of the independently actuatable motor in each joint of the plurality of joints.
17 . A system comprising:
a robotic arm, the robotic arm comprising:
an instrument driver, the instrument driver being operable to manipulate a medical instrument,
a first linkage,
a second linkage,
a third linkage,
a revolute joint, the first linkage being coupled with the second linkage via the revolute joint,
a first prismatic joint, the instrument driver being coupled with the first linkage via the first prismatic joint, the instrument driver being movable relative to the first linkage, along a first axis, via the first prismatic joint, and
a second prismatic joint, the second linkage being coupled with the third linkage via the second prismatic joint, second linkage being movable relative to the third linkage, along a second axis, via the second prismatic joint.
18 . The system of claim 17 , the revolute joint comprising a first motor, the first prismatic joint comprising a second motor, the second prismatic joint comprising a third motor, and the system comprising a control unit configured to control a positioning of the robotic arm based on independent actuation of each of the first motor, the second motor, and the third motor.
19 . A system comprising:
a robotic arm, the robotic arm comprising:
a first instrument driver, the first instrument driver being operable to manipulate a first medical instrument,
a second instrument driver, the second instrument driver being operable to manipulate a second medical instrument, the first and second instrument drivers being positionable relative to each other to provide insertion of a portion of the second medical instrument into the first medical instrument,
a first linkage, the first linkage supporting the first and second instrument drivers,
a second linkage, the second linkage supporting the first linkage,
a third linkage, the third linkage supporting the second linkage,
a revolute joint, the first linkage being coupled with the second linkage via the revolute joint,
a first prismatic joint, the first instrument driver being coupled with the first linkage via the first prismatic joint, the first instrument driver being movable relative to the first linkage, along a first axis, via the first prismatic joint, and
a second prismatic joint, the second linkage being coupled with the third linkage via the second prismatic joint, second linkage being movable relative to the third linkage, along a second axis, via the second prismatic joint.
20 . The system of claim 19 , the revolute joint comprising a first motor, the first prismatic joint comprising a second motor, the second prismatic joint comprising a third motor, and the system comprising a control unit configured to control a positioning of the robotic arm based on independent actuation of each of the first motor, the second motor, and the third motor.