# US 10,065,315 B2 · Method for operating a robotic device and robotic device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,065,315 B2 - Document ID: US10065315B2 - Status: Granted - Kind: B2 - Application number: 14/953,005 - Filed: 2015-11-26 - Published: 2016-05-26 - Granted: 2018-09-04 - Earliest claimed: 2014-11-26 - Assignees: Siemens Aktiengesellschaft - Applicants: Abhinav Gulhar; Philip Mewes; Sabine Thürauf - Inventors: Abhinav Gulhar; Philip Mewes; Sabine Thürauf - Web page: https://patentgrep.com/patent/US10065315B2 ## CPC - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - A61B 8/4218: {characterised by articulated arms} - A61B 34/30: Surgical robots - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - A61B 1/00149: {using articulated arms} - A61B 8/429: {characterised by determining or monitoring the contact between the transducer and the tissue} - A61B 17/7082: {for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws} - A61B 17/7089: {wherein insertion is along an arcuate path} - A61B 2010/045: {Needles (pointed biopsy devices with vacuum aspiration A61B10/0283)} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - G05B 2219/39305: Learn, detect kinematic contraints in a plane from displacement and force - G05B 2219/40201: Detect contact, collision with human - G05B 2219/45117: Medical, radio surgery manipulator - Y10S 901/04: Manual lead through - Y10S 901/09: Closed loop, sensor feedback controls arm movement - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A method for operating a robotic device with a kinematic chain of mobile components is provided. The kinematic chain includes a function-specific end-effector at one end. Sensor values are acquired by sensors of the robotic device arranged on the kinematic chain or in the environment of the kinematic chain. A force acting on the end-effector or another component of the kinematic chain, or a variable dependent thereupon, is determined in a prespecified manner based on the acquired sensor values. The force or variable determined is compared with a prespecified first safety limit value by a control mechanism of the robotic device. A characteristic of the kinematic chain or the function-specific end-effector is adapted if the force or variable determined is in a prespecified relationship to the first safety limit value in order to increase the operational safety of a robotic device and of people in the environment of the robotic device. ## Claims ### Claim 1 A method for operating a robotic device with a kinematic chain of mobile components, wherein the kinematic chain comprises a function-specific end-effector at one end, the method comprising: acquiring respective sensor values using sensors of the robotic device arranged on the kinematic chain or in an environment of the kinematic chain; determining a force applied to the function-specific end-effector or another component of the kinematic chain, or a variable dependent on the force, in a prespecified manner based on the acquired sensor values; prespecifying, automatically based on a medical-surgical or medical-diagnostic procedure, a first safety limit value based on a suitability of the function-specific end-effector of the kinematic chain for the procedure; comparing the force or the variable with the prespecified first safety limit value by a control mechanism of the robotic device; and adapting a characteristic of the kinematic chain or a characteristic of the function-specific end-effector when the force or the variable is in a prespecified relationship to the first safety limit value. ### Claim 2 (depends on 1) The method of claim 1, wherein the characteristic includes a parameter of the kinematic chain represented as a spring-damper system, wherein the parameter comprises one or more of: rigidity, damping of the kinematic chain, torque acting on the function-specific end-effector, a force acting on the function-specific end-effector, speed of the function-specific end-effector, and acceleration of the function-specific end-effector. ### Claim 3 (depends on 1) The method of claim 1, wherein the adapting is performed when the force or the variable is greater than the first safety limit value. ### Claim 4 (depends on 1) The method of claim 1, wherein the prespecifying of the first safety limit value is based on a property of the function-specific end-effector of the kinematic chain and the suitability of the function-specific end-effector of the kinematic chain for the procedure. ### Claim 5 (depends on 1) The method of claim 1, wherein the prespecifying of the first safety limit value is based on: application of a prespecified force, a prespecified torque, or the prespecified force and the prespecified torque on the function-specific end-effector, application of the prespecified force, the prespecified torque, or the prespecified force and the prespecified torque by the function-specific end-effector, or application of the prespecified force, the prespecified torque, and the prespecified force and the prespecified torque on the function-specific end-effector and by the function-specific end-effector. ### Claim 6 (depends on 5) The method of claim 5, wherein the prespecified force application, the prespecified torque application, or the prespecified force application and the prespecified torque application is based on a prespecified change to a force, a torque, or the force and the torque, wherein the prespecified force application, the prespecified torque application, or the prespecified force application and the prespecified torque application is standardized to a prespecified value for a distance covered during the procedure by the function-specific end-effector, a mobile component of the kinematic chain, or the function-specific end-effector and the mobile component of the kinematic chain. ### Claim 7 (depends on 5) The method of claim 5, wherein the prespecified force application, the prespecified torque application, or the prespecified force application and the prespecified torque application is effected by an operational action or a sequence of operational actions on the robotic device. ### Claim 8 (depends on 7) The method of claim 7, wherein the operational action on the robotic device comprises guidance of the kinematic chain by a hand of an operator. ### Claim 9 (depends on 5) The method of claim 5, further comprising: determining a position of a structure assigned to the prespecified force application, the prespecified torque application, or the prespecified force application and the prespecified torque application, wherein the determining of the position comprises determining a position, an orientation, or the position and the orientation of the function-specific end-effector at a time of the prespecified force application, the prespecified torque application, or the prespecified force application and the prespecified torque application or at a time of the adaptation. ### Claim 10 (depends on 1) The method of claim 1, further comprising: prespecifying a second safety limit value, wherein the second safety limit value is higher than the first safety limit value; comparing the force or the variable with the second safety limit value; and outputting a warning signal to an operator when the force or the variable is in a second prespecified relationship to the second safety limit value. ### Claim 11 (depends on 10) The method of claim 10, wherein the second prespecified relationship comprises the force or the variable being greater than the second safety limit value. ### Claim 12 (depends on 10) The method of claim 10, further comprising: prespecifying a first value and a second value for the first safety limit value; and selecting the first value or the second value as the first safety limit value based on the comparison with the force or the variable. ### Claim 13 (depends on 1) The method of claim 1, wherein the prespecifying of the first safety limit value depends on the acquired sensor values. ### Claim 14 (depends on 1) The method of claim 1, wherein the prespecifying of the first safety limit value is performed depending on: a position, an orientation, or the position and the orientation of the function-specific end-effector of the kinematic chain, a joint angle between two mobile components of the kinematic chain, or the position, the orientation, or the position and the orientation of the function-specific end-effector of the kinematic chain and the joint angle between two mobile components of the kinematic chain. ### Claim 15 (depends on 14) The method of claim 14, further comprising: checking to determine one predetermined spatial region of a plurality of predetermined spatial regions where the function-specific end-effector is located, wherein the prespecifying of the first safety limit value is performed depending on: the position, the orientation, the position and the orientation, the joint angle, or the position, the orientation, and the joint angle. ### Claim 16 (depends on 1) The method of claim 1, wherein the adaptation includes: restricting a movement of the function-specific end-effector, a mobile component, or the function-specific end-effector and the mobile component by at least one joint; or restricting a combined movement by a plurality of joints of the kinematic chain. ### Claim 17 (depends on 16) The method of claim 16, wherein the restricting comprises reducing the movement of the function-specific end-effector by a degree of freedom. ### Claim 18 (depends on 5) The method of claim 5, wherein the robotic device is a medical-robotic device used in a medical-surgical procedure, a medical-diagnostic procedure, or the medical-surgical procedure and the medical-diagnostic procedure. ### Claim 19 (depends on 18) The method of claim 18, wherein the robotic device comprises a holding device for an endoscope, a pedicle screw, a biopsy needle, or an ultrasound device. ### Claim 20 (depends on 18) The method of claim 18, wherein the prespecified force application, the prespecified torque application, or the prespecified force application and the prespecified torque application on the robotic device comprises: a movement of a partial region of a patient, the partial region of the patient comprising a prespecified anatomical structure of the patient, the robotic device acting on the partial region of a patient, or the movement of the partial region of the patient and the robotic device acting on the partial region of the patient. ### Claim 21 A robotic device comprising: a kinematic chain of mobile components comprising a function-specific end-effector at one end; a plurality of sensors arranged on the kinematic chain or in an environment of the kinematic chain, wherein the plurality of sensors is configured to acquire respective sensor values; and a control mechanism configured to: determine, based on the acquired sensor values, a force acting on the function-specific end-effector or another component of the kinematic chain, or a variable dependent on the force, in a prespecified manner; prespecify, automatically based on a medical-surgical or medical-diagnostic procedure, a first safety limit value based on a suitability of the function-specific end-effector of the kinematic chain for the procedure; compare the force or the variable with the prespecified first safety limit value; and adapt a characteristic of the kinematic chain or the function-specific end-effector when the force or the variable is in a prespecified relationship to the first safety limit value. ### Claim 22 (depends on 1) The method of claim 1, wherein the procedure specifies a region to be operated on by the function-specific end-effector. ### Claim 23 (depends on 21) The method of claim 21, wherein the procedure specifies a region to be operated on by the function-specific end-effector.