Movable surgical mounting platform controlled by manual motion of robotic arms
Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
1. A system comprising:
a manipulator configured to be mounted to a cannula; and
a processor;
wherein the processor is configured to:
detect a mounting state of the cannula;
detect an input indicating the system is to be in a set-up mode; and
inhibit transition of the system to the set-up mode in response to the detected mounting state.
2. The system of claim 1 , further comprising:
a dedicated input button associated with the set-up mode, wherein
detecting the input indicating the system is to be in the set-up mode comprises detecting an activation of the dedicated input button.
3. The system of claim 1 , further comprising:
a platform;
a first kinematic structure supporting the platform; and
a second kinematic structure coupled with the platform and comprising a first link, wherein the manipulator is coupled to the second kinematic structure.
4. The system of claim 3 , wherein the processor is further configured to inhibit movement of the platform in response to the detected mounting state.
5. The system of claim 3 , wherein detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of the second kinematic structure.
6. The system of claim 5 , wherein the joint operation comprises movement of a joint of the second kinematic structure to a range of motion limit of the joint or to within a threshold distance from a range of motion limit of the joint.
7. The system of claim 5 , wherein the joint operation is performed when the system is in a port clutching mode.
8. The system of claim 3 , wherein the processor is further configured to inhibit movement of joints of the first kinematic structure in response to the detected mounting state.
9. The system of claim 1 , wherein the processor is further configured to terminate operation of the system in the set-up mode in response to the detected mounting state.
10. The system of claim 1 , wherein detecting the mounting state of the cannula comprises detecting the cannula mounted to the manipulator.
11. The system of claim 1 , wherein the system is a surgical system, and wherein the cannula comprises a lumen that provides minimally invasive access to a work site for a tool controlled by the manipulator.
12. The system of claim 1 , further comprising:
a second manipulator configured to be mounted to a second cannula, wherein:
the input is specific to the manipulator; and
the processor is further configured to:
detect a second mounting state of the second cannula; and
inhibit transition of the system to the set-up mode in response to the detected second mounting state.
13. The system of claim 1 , wherein detecting the mounting state of the cannula comprises detecting one or more signals transmitted by the manipulator.
14. A method for setting-up a system having a processor and a manipulator configured to be mounted to a cannula, the method comprising:
detecting, by the processor, a mounting state of the cannula;
detecting, by the processor, an input indicating the system is to be in a set-up mode; and
inhibiting, by the processor, transition of the system to the set-up mode in response to the detected mounting state.
15. The method of claim 14 , wherein detecting the input indicating the system is to be in the set-up mode comprises detecting an activation of a dedicated input button located on the manipulator.
16. The method of claim 14 , wherein:
the system further comprises a platform, a first kinematic structure supporting the platform, and a second kinematic structure coupled with the platform and comprising a first link, wherein the manipulator is coupled to the second kinematic structure; and
the method further comprises inhibiting movement of the platform in response to the detected mounting state.
17. The method of claim 14 , wherein:
the system further comprises a platform, a first kinematic structure supporting the platform, and a second kinematic structure coupled with the platform and comprising a first link, wherein the manipulator is coupled to the second kinematic structure; and
detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of the second kinematic structure.
18. The method of claim 17 , wherein the joint operation comprises movement of a joint of the second kinematic structure to a range of motion limit of the joint or to within a threshold distance from a range of motion limit of the joint.
19. The method of claim 14 , further comprising terminating operation of the system in the set-up mode in response to the detected mounting state.
20. The method of claim 14 , wherein the system is a surgical system, and wherein the cannula comprises a lumen that provides minimally invasive access to a work site for a tool controlled by the manipulator.