System and method for controlling a robot arm
AssigneeDepuy Ireland Unlimited Company
InventorBrett Zubiate
Life of this patent
Estimating the term…
Abstract
A control method is provided to manage a surgical robot having an arm configured to hold a medical tool. The method includes receiving a set of sensor signals from sensors on the arm, generating a profile based on the set of sensor signals, comparing the profile to at least one signature, determining a state of the arm based on results of the comparison, and changing operation of the arm based on the state of the arm. The state of the arm is indicative of a predetermined condition that has occurred or will likely occur eminently. Changing operation of the arm prevents the condition from occurring or continuing. The robot arm may hold a medical tool for using during surgery or another medical procedure.
Claims20
A method for managing a surgical robot having an arm configured to hold a medical tool, comprising:
- receiving a set of sensor signals from sensors on the arm;
- generating a time domain profile based on the set of sensor signals, wherein the time domain profile includes a plurality of points spanning a specified timeframe;
- comparing the time domain profile to at least one time domain signature, wherein the time domain signature includes a plurality of points spanning the specified timeframe;
- determining a state of the arm based on results of the comparison;
- and
- changing operation of the robot based on the state of the arm, wherein the state of the arm is indicative of a predetermined condition that has occurred or will likely occur eminently and wherein changing operation of the arm prevents the condition from occurring or continuing.
A system for managing a surgical robot having an arm configured to hold a medical tool, comprising:
- a memory configured to store one or more algorithms;
- and
- a processor configured to
- receive a set of sensor signals;
- and
- execute the one or more algorithms to control the arm that includes sensors that generate the set of sensor signals, wherein the time domain profile includes a plurality of point spanning a specified timeframe, the one or more algorithms to generate a time-based profile from the set of sensor signals, compare the time domain profile to at least one time domain signature, wherein the time domain signature includes a plurality of points spanning the specified timeframe, determine a state of the arm based on results of the comparison, and generate signals to change operation of the robot based on the state of the robot arm, wherein the state of the arm is indicative of a predetermined condition that has occurred or will likely occur eminently and wherein changing operation of the arm prevents the condition from occurring or continuing.
Dependencies are inferred from the claim text.