Back to results
US 10,807,242 B2Granted
Control modes and processes for positioning of a robotic manipulator
AssigneeVerb Surgical Inc.
InventorsRenbin Zhou, Haoran Yu, Sina Nia Kosari, Omar J. Vakharia, Bernard Fai Kin Siu, Alex Kiturkes
Life of this patent
Estimating the term…
Abstract
A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.
Claims20
A method for controlling a robotic arm in a robotic surgical system, the method comprising:
- defining a reference plane at a predetermined reference location for the robotic arm, wherein the robotic arm comprises a plurality of joints;
- and
- driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane including enforcing a joint space virtual fixture on the at least one of the plurality of joints, to bias the robotic arm toward the reference plane.
A robotic surgical system, comprising:
- at least one robotic arm comprising a plurality of joints;
- a processor configured to control movement of the at least one robotic arm by defining a reference plane at a predetermined reference location and driving at least one of the plurality of joints to guide the at least one robotic arm through a series of predetermined poses substantially constrained within the reference plane in accordance with a joint space virtual fixture, to bias the at least one robotic arm toward the reference plane.
Dependencies are inferred from the claim text.