US 10,159,536 B2 · Alignment difference safety in a master-slave robotic system

Abstract

A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

Claims46

Dependent claims

A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle capable of translational and rotational movement and a slave system having a tool positioning device holding a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle, the method comprising:

producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle;
causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and while disabling translational and rotational movement of the end effector in response to movement of the handle, when a rotational alignment difference between the handle and the end effector meets a disablement criterion;
and
enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

1 more element

An apparatus for use in a robotic control system, the apparatus in communication with an input device having a handle capable of translational and rotational movement and in communication with a slave system having a tool positioning device holding a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle, the apparatus comprising:

producing means for producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle;
causing means for causing the input device to provide haptic feedback that impedes translational movement of the handle, while causing rotational movement of the handle to be enabled and while causing translational movement of the end effector in response to translational movement of the handle to be disabled, when a rotational alignment difference between the handle and the end effector meets a disablement criterion;
and
enabling means for enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

1 more element

at least one processor circuit configured to:
produce a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle;
cause the input device to provide haptic feedback that impedes translational movement of the handle, while causing rotational movement of the handle to be enabled and while causing translational movement of the end effector in response to translational movement of the handle to be disabled, when a rotational alignment difference between the handle and the end effector meets a disablement criterion;
and
enable translational movement of the handle when the rotational alignment difference meets an enablement criterion.

2 more elements

Dependencies are inferred from the claim text.

Alignment difference safety in a master-slave robotic system

Life of this patent

Alignment difference safety in a master-slave robotic system

Life of this patent

Abstract

Claims46