Active backdriving for a robotic arm
AssigneeVerb Surgical Inc.
InventorsRenbin Zhou, Sina Nia Kosari, Dennis Moses
Life of this patent
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Abstract
A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
Claims19
A method for assisting movement of a robotic surgical arm having at least one movable joint, the method comprising:
- generating a first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency;
- and
- while a user is manually forcing the at least one moveable joint, driving an actuator in the at least one movable joint based on the first signal.
A method for assisting movement of a robotic surgical arm having at least one movable joint, the method comprising:
- detecting that a user is exerting manual force on the robotic surgical arm;
- and
- in response to detecting that the user is exerting manual force on the robotic surgical arm, driving an actuator in the at least movable joint to assist the user in moving the arm, using a first signal that comprises a first oscillating waveform having a first frequency that is being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency.
A robotic surgical system, comprising:
- at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint;
- a controller configured to generate a modulated signal, the modulated signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency;
- wherein the actuator is configured to drive the at least one movable joint, based on the modulated signal, in the same direction in which a user is exerting force on the movable joint.
Dependencies are inferred from the claim text.