Motion execution of a robotic system
AssigneeVerily Life Sciences LLC
InventorsJoëlle K. Barral, Blake Hannaford
Life of this patent
Estimating the term…
Abstract
A method of surgical robot operation includes moving a surgical instrument through a medium using the surgical robot, where the surgical robot attempts to move the surgical instrument to a desired position. The method further includes measuring an actual position of the surgical instrument, and calculating a difference between the actual position and the desired position. The actual position of the surgical instrument is adjusted to the desired position using the surgical robot.
Claims20
A non-transitory machine readable storage medium storing logic, which when executed by a processing apparatus, causes the processing apparatus to perform operations including:
- receiving a signal from a controller of a surgical robot;
- moving, with the surgical robot and in response to the signal, a surgical instrument through a first tissue along a trajectory that passes through the first tissue and a second tissue that differs from the first tissue;
- and
- adjusting, based upon a difference between an actual position and a desired position of the surgical instrument, the actual position of the surgical instrument to the desired position by moving the surgical instrument through the second tissue using the surgical robot, wherein adjusting comprises using a machine learning algorithm to instruct the surgical robot to apply to the surgical instrument at least a force that is sufficient to move the surgical instrument through the second tissue, wherein the machine learning algorithm recognizes a composition of the second tissue based upon the force that is sufficient to move the surgical instrument through the second tissue.
A non-transitory machine readable storage medium storing logic, which when executed by a processing apparatus, causes the processing apparatus to perform operations including:
- receiving a signal from a controller of a surgical robot;
- and
- moving, with the surgical robot and in response to the signal, a surgical instrument to a desired position through a first tissue and through a second tissue that differs from the first tissue,
- wherein moving includes using a machine learning algorithm to instruct the surgical robot to apply to the surgical instrument at least a force that is sufficient to move the surgical instrument through the second tissue, wherein the machine learning algorithm recognizes a composition of the second tissue based upon at least the force that is sufficient to move the surgical instrument through the second tissue.
Dependencies are inferred from the claim text.