US 12,447,618 B2
Techniques for constraining motion of a drivable assembly
Goran A. Lynch, Tahoe City, CA (US); and Lucas A. Reilly, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Dec. 20, 2023, as Appl. No. 18/391,473.
Claims priority of provisional application 63/476,508, filed on Dec. 21, 2022.
Prior Publication US 2024/0208055 A1, Jun. 27, 2024
Int. Cl. B25J 9/16 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); B25J 9/00 (2006.01)
CPC B25J 9/1664 (2013.01) [A61B 34/37 (2016.02); B25J 9/0084 (2013.01); A61B 2034/301 (2016.02)] 25 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a drivable assembly comprising:
a drivable structure,
a first manipulator mechanically coupled to the drivable structure, and
a second manipulator mechanically coupled to the drivable structure; and
a processing system configured to perform operations comprising:
receiving a first command, the first command indicating a first commanded motion for a first instrument mechanically coupled to the first manipulator, the first instrument having a first end effector, wherein the first manipulator and the first instrument together comprise a plurality of first links coupled by a plurality of first joints;
determining a drivable structure limit based on at least one parameter selected from the group consisting of: a type of procedure being performed by the drivable assembly, a stage of the procedure being performed by the drivable assembly, and an operating mode of the drivable assembly, the drivable structure limit defining a limit for motion of the drivable structure;
determining a first movement for effecting the first commanded motion, the first movement comprising a first relative motion of the first end effector relative to the drivable structure, and the first movement further comprising a drivable structure motion of the drivable structure as limited by the drivable structure limit; and
driving the drivable assembly to perform the first movement.