US 12,128,566 B2
Guided tool change
Ashwinram Suresh, San Jose, CA (US); Lawton Verner, Saratoga, CA (US); and Gabriel Brisson, Sunnyvale, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/438,377
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Mar. 10, 2020, PCT No. PCT/US2020/021908
§ 371(c)(1), (2) Date Sep. 10, 2021,
PCT Pub. No. WO2020/185789, PCT Pub. Date Sep. 17, 2020.
Claims priority of provisional application 62/817,370, filed on Mar. 12, 2019.
Prior Publication US 2022/0250242 A1, Aug. 11, 2022
Int. Cl. B25J 9/16 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); G05B 19/4155 (2006.01); B25J 15/04 (2006.01)
CPC B25J 9/1664 (2013.01) [A61B 34/37 (2016.02); B25J 9/1633 (2013.01); G05B 19/4155 (2013.01); A61B 2034/301 (2016.02); B25J 15/04 (2013.01); G05B 2219/40269 (2013.01)] 34 Claims
OG exemplary drawing
 
1. A computer-assisted medical system comprising:
a manipulator arm; and
a controller comprising a computer processor and configured to:
determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm, and the kinematic configuration being of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location,
determine a reference geometry of the previous tool in the kinematic configuration,
determine a partially non-straight insertion trajectory for the replacement tool based on the reference geometry, and
control the replacement tool to move in accordance with the insertion trajectory while the replacement tool is inserted toward a target location of the insertion trajectory; wherein:
to control the replacement tool to move in accordance with the insertion trajectory, the controller is configured to: control a joint of the replacement tool to alter an angle or position of the joint such that the end effector follows the partially non-straight insertion trajectory.