Remote center of motion definition using light sources for robot systems

Abstract

A robot system includes a robot linkage (202) having one or more arms connected by two joints (220, 222). The joints each including a joint axis of rotation (206 or 208) and a light source (128) aligned with the respective joint axis. The light sources are configured to direct light along the respective joint axis such that light from the light sources intersects at a position along an instrument (204) being held in an operational position by the robot linkage to define a remote center of motion (RCM) for the robot linkage.

1 . A robot system, comprising:
 a robotic device comprising one or more arms connected by at least two joints, each of the joints comprising a joint axis of rotation, and a light source aligned with the respective joint axis; each of the light sources being configured to direct light along the respective joint axis such that light from the light sources intersects at a remote center of motion (RCM) for the robotic device.   
     
     
         2 . The robot system as recited in  claim 1 , wherein the at least two joints include at least one of a motor or at least one shaft aligned along the joint axis. 
     
     
         3 . The robot system as recited in  claim 1 , wherein the light sources include one of a laser or a light emitting diode. 
     
     
         4 . The robot system as recited in  claim 1 , wherein the light sources include different colors for each joint. 
     
     
         5 . The robot system as recited in  claim 1 , wherein the light sources produce different beam shapes for each joint. 
     
     
         6 . The robot system as recited in  claim 1 , wherein the light sources converge at a point in space to enable RCM alignment with a work area of the robot system. 
     
     
         7 . The robot system as recited in  claim 1 , wherein the light sources are configured to converge at a point in space to enable RCM alignment with an incision point of a patient. 
     
     
         8 . A robot system, comprising:
 a first joint having a first axis of rotation between at least two robot components;   a second joint having a second axis of rotation between at least two robot components;   a first light source configured to direct light along the first axis; and   a second light source configured to direct light along the second axis such that light from the first light source and the second light source converge at a remote center of motion (RCM) for the robot system.   
     
     
         9 . The robot system as recited in  claim 8 , wherein the first joint includes at least one of a motor or at least one shaft aligned along the first axis. 
     
     
         10 . The robot system as recited in  claim 8 , wherein the second joint includes at least one of a motor or at least one shaft aligned along the second axis. 
     
     
         11 . The robot system as recited in  claim 8 , wherein the first light source includes one of a laser or a light emitting diode. 
     
     
         12 . The robot system as recited in  claim 8 , wherein the second light source includes one of a laser or a light emitting diode. 
     
     
         13 . The robot system as recited in  claim 8 , wherein the first light source includes a different colored light than from the second light source. 
     
     
         14 . The robot system as recited in  claim 8 , wherein the first light source produces a different shaped light beam than from the second light source. 
     
     
         15 . The robot system as recited in  claim 8 , wherein the first light source and the second light source converge at a point in space to enable RCM alignment with a target. 
     
     
         16 . A method for determining a remote center of motion, the method comprising:
 aligning a first light source along a first axis of rotation of a first joint between at least two robot components;   aligning a second light source along a second axis of rotation of a second joint between at least two robot components;   directing light along the first axis from the first light source;   directing light along the second axis from the second light source; and   defining a remote center of motion (RCM) for the robot system at an intersection of light from the first light source and the second light source.   
     
     
         17 . The method as recited in  claim 16 , wherein aligning the first light source includes aligning the first joint with at least one of a motor or at least one shaft along the first axis. 
     
     
         18 . The method as recited in  claim 16 , wherein aligning the second light source includes aligning the second joint with at least one of a motor or at least one shaft along the second axis. 
     
     
         19 . The method as recited in  claim 16 , wherein the first light source includes one of a different colored light or a different shaped light beam than from the second light source. 
     
     
         20 . The method as recited in  claim 16 , wherein at least one of the first light source and/or the second light source includes one of a laser or a light emitting diode. 
     
     
         21 . The method as recited in  claim 16 , further comprising aligning the RCM with a work area of the robot system.