The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 16, 2020
Filed:
Mar. 21, 2018
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Arjang M. Hourtash, Santa Clara, CA (US);
Paul W. Mohr, Mountain View, CA (US);
Pushkar Hingwe, Fremont, CA (US);
Paul Millman, San Jose, CA (US);
Bruce M. Schena, Menlo Park, CA (US);
Roman L. Devengenzo, San Jose, CA (US);
Scott Luke, Ben Lomond, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.