Motion execution of a robotic system
AssigneeVerily Life Sciences LLC
InventorsJoëlle K. Barral, Blake Hannaford
Life of this patent
Estimating the term…
Abstract
Robotic surgery systems and methods of surgical robot operation are provided. A method of surgical robot operation includes moving a surgical instrument through a tissue 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 robotic surgical system, comprising:
- a surgical robot including one or more arms configured to hold one or more surgical instruments;
- and
- a processing apparatus coupled to the surgical robot to control the surgical robot, wherein the processing apparatus includes logic that when executed by the processing apparatus causes the processing apparatus to perform operations including:
- receiving a signal from a controller of the surgical robot;
- moving, with the surgical robot, the one or more surgical instruments through a tissue in response to the signal;
- measuring an actual position of the one or more surgical instruments;
- calculating a difference between the actual position and a desired position;
- recognizing, with a machine learning algorithm, a composition of the tissue based upon at least a force sufficient to move the one or more surgical instruments through the tissue;
- and
- adjusting, based upon the difference and the composition, the actual position of the one or more surgical instruments to the desired position through the tissue using the surgical robot, wherein the adjusting includes using the machine learning algorithm to instruct the surgical robot to apply to the one or more surgical instruments at least the force that is sufficient to move the one or more surgical instruments through the 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;
- instructing the surgical robot, based upon the signal, to move a surgical instrument coupled to the surgical robot through a tissue along a trajectory;
- measuring an actual position of the surgical instrument;
- calculating a difference between the actual position and a desired position;
- recognizing, with a machine learning algorithm, a composition of the tissue based upon at least a force sufficient to move the surgical instrument through the tissue;
- and
- instructing the surgical robot, based upon the difference and the composition, to adjust the actual position of the surgical instrument to the desired position through the tissue, wherein instructing includes using the machine learning algorithm to instruct the surgical robot to apply to the surgical instrument at least the force that is sufficient to move the surgical instrument through the tissue.
A method of surgical robot operation, comprising:
- moving, with a surgical robot, a surgical instrument through a tissue to a desired position along a trajectory;
- measuring an actual position of the surgical instrument;
- calculating a difference between the actual position and the desired position;
- and
- adjusting the actual position of the surgical instrument, based upon the difference, to the desired position through the tissue, wherein adjusting includes using a machine learning algorithm to recognize a composition of the tissue based upon at least a force sufficient to move the surgical instrument through the tissue, and wherein adjusting includes instructing the surgical robot to apply to the surgical instrument at least the force that is sufficient to move the surgical instrument through the tissue based upon the composition.
Dependencies are inferred from the claim text.