Abstract: A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include calculating a second movement of the joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance, and combining at least the first and second movements into a combined movement in a manner allowing the first objective to overpower the second objective, and driving the joints to effect the combined movement.

Abstract: Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.

Abstract: A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include calculating a second movement of the joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance, and combining at least the first and second movements into a combined movement in a manner allowing the first objective to overpower the second objective, and driving the joints to effect the combined movement.

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.

Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.

Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.

Abstract: Devices, systems, and methods for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may be overlaid the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.

Abstract: An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.

Abstract: A paper tray assembly for a computer controlled printer has an angled paper discharge wall and a paper stack skewer which automatically urges the leading edges of each sheet of paper in the stack against the slanted wall as the paper tray is inserted into a tray receiving slot in the printer. The reason for doing this automatic skewing is to prevent paper misfeeds. Optionally, paper length and paper width adjusting slides are used with the automatic paper stack skewer being pivotally affixed to a length adjustment slide, if used. The skewer is operated by interengaging cams and followers which are actuated as the paper tray is inserted into or removed from a tray receiving slot in the printer.