Regulating joint space velocity of a surgical robotic arm
AssigneeVerb Surgical Inc.
InventorHaoran Yu
Life of this patent
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Abstract
A surgical robotic system has a surgical robotic arm, and a programmed processor that determines a longest principal axis of a velocity ellipsoid for a first configuration of the arm, applies a maximum task space velocity (that is in the direction of the longest principal axis) to an inverse kinematics equation which computes a potential joint space velocity, computes a ratio of i) the potential joint space velocity and ii) a joint space velocity limit of the arm, and applies the ratio to an initial joint space velocity, to produce a regulated joint space velocity. Other aspects are also described and claimed.
Claims20
A method for regulating joint space velocity of a surgical robotic arm, the method comprising:
- a) computing a longest principal axis of a velocity ellipsoid for a surgical robotic arm configuration;
- b) receiving a task space velocity, applying a norm of the task space velocity along the longest principal axis to compute a potential joint space velocity using inverse kinematics;
- d) computing a ratio of i) the potential joint space velocity and ii) a joint space velocity limit for the surgical robotic arm;
- and
- e) applying the ratio to an initial joint space velocity, to produce a regulated joint space velocity.
A surgical robotic system comprising:
- a surgical robotic arm;
- a processor;
- and
- memory having stored therein instructions that when executed by the processor
- a) compute a longest principal axis of a velocity ellipsoid for a first configuration of the surgical robotic arm,
- b) apply a task space velocity to the longest principal axis to produce a new vector, and compute a potential joint space velocity based on the new vector,
- c) compute a ratio of i) the potential joint space velocity and a joint space velocity limit of the surgical robotic arm, and
- d) produce a regulated joint space velocity using the ratio.
A method for regulating velocity of a surgical robotic arm, the method comprising:
- a) determining a velocity ellipsoid of an end effector for a robotic arm configuration of a robotic arm, the robotic arm having a plurality of active joints, the end effector being positioned at a distal end of the robotic arm;
- b) for each of the plurality of active joints, computing a respective potential joint velocity by applying a task space velocity along a longest principle axis of the velocity ellipsoid;
- c) when the respective potential joint velocity exceeds a joint velocity limit of a respective joint, computing a ratio between i) the joint velocity limit and the respective potential joint velocity;
- and
- d) generating a respective regulated joint velocity for each of the plurality of active joints based on the ratio.
Dependencies are inferred from the claim text.