BINDING AND NON-BINDING ARTICULATION LIMITS FOR ROBOTIC SURGICAL SYSTEMS

• Main Authors: MURPHY COLIN, HARTZSCH MATTHEW, ROCKROHR BRIAN, TAYLOR ERIC
• Format: Patent
• Language: Chinese; English
• Published: 01.06.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; DIAGNOSIS; HAND TOOLS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MANIPULATORS; MEDICAL OR VETERINARY SCIENCE; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; SURGERY; TRANSPORTING

A robotic surgical system and method of selectively binding articulation limits to a surgical instrument includes detecting a proximal or a distal linear movement of the surgical instrument, calculating a distance between a tool center point of the surgical instrument after the proximal or the distal linear movement and a remote center of motion, assigning and binding an articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is distal linear movement, and assigning a non-binding articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is proximal linear movement. 一种将关节运动限制选择性地绑定到手术器械的机器人手术系统和方法包含：检测所述手术器械的近侧或远侧线性移动；在所述近侧或所述远侧线性移动之后，计算所述手术器械的工具中心点与远程运动中心之间的距离；当检测到的线性移动为远侧线性移动时，基于计算出的距离将关节运动限制分配并绑定到所述手术器械；且当检测到的线性移动为近侧线性移动时，基于计算出的距离将非绑定性关节运动限制分配到所述手术器械。