CPC A61B 34/30 (2016.02) [A61B 34/37 (2016.02); B25J 9/1607 (2013.01); B25J 9/1638 (2013.01); B25J 9/1666 (2013.01); B25J 18/007 (2013.01)] | 25 Claims |
1. A system comprising:
a manipulator arm configured to support an instrument having an end effector, the manipulator arm comprising a distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints providing sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a state of the distal portion; and
a processor coupled to the manipulator arm, the processor configured with a manipulation mode and a first clutch mode, the first clutch mode selected from the group consisting of: an arm-null-perpendicular-clutch mode, a port-null-perpendicular-clutch mode, and an arm-port-null-perpendicular-clutch mode, wherein the processor is configured to perform operations comprising:
in the manipulation mode, driving the plurality of joints to move an end effector of the instrument while pivoting the instrument about a remote center, and
in the first clutch mode, operating the plurality of joints in accordance with the first clutch mode;
wherein the arm-null-perpendicular-clutch mode corresponds to concurrently:
servoing the plurality of joints in a null-perpendicular space of the remote center to maintain a position of the remote center,
floating the plurality of joints in a first subspace while applying friction compensation or gravity compensation, the first subspace being a portion of a null-perpendicular space of the end effector orthogonal to the null-perpendicular space of the remote center, and
controlling motion of the plurality of joints in an intersection of a null-space of the remote center and a null-space of the end effector;
wherein the port-null-perpendicular-clutch mode corresponds to concurrently:
servoing the plurality of joints in a null-perpendicular space of the end effector to maintain a position of the end effector,
floating the plurality of joints in a second subspace while applying friction compensation or gravity compensation, the second subspace being a portion of the null-perpendicular space of the remote center orthogonal to the null-perpendicular space of the end effector, and
controlling the motion of the plurality of joints in the intersection of the null-space of the remote center and the null-space of the end effector; and
wherein the arm-port-null-perpendicular-clutch mode corresponds to concurrently:
floating the plurality of joints in a union of the null-perpendicular space of the remote center and the null-perpendicular space of the end effector while applying friction compensation or gravity compensation, and
controlling the motion of the plurality of joints in the intersection of the null-space of the remote center and the null-space of the end effector.
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