Robotic surgical system and method for producing reactive forces to implement virtual boundaries
AssigneeMAKO Surgical Corp.
InventorDavid Gene Bowling
Life of this patent
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Abstract
Robotic systems and methods employ a virtual simulation wherein a tool is represented as a virtual volume adapted to interact relative to a virtual boundary defined by a mesh of polygonal elements. A reactive force is computed in response to penetration of one of the polygonal elements by the virtual volume in the virtual simulation. The reactive force is computed as a function of a volume of a penetrating portion of the virtual volume that is penetrating a plane of the polygonal element. The reactive force is applied to the virtual volume in the virtual simulation for reducing penetration of the polygonal element by the virtual volume.
Claims20
A robotic system comprising:
- a tool;
- a manipulator comprising a plurality of links and configured to move the tool;
- and
- one or more controllers coupled to the manipulator and configured to implement a virtual simulation wherein the tool is represented as a virtual volume being adapted to interact relative to a virtual boundary defined by a mesh of polygonal elements, each of the polygonal elements comprising a plane, and wherein the one or more controllers are configured to:
- compute a reactive force in response to penetration of one of the polygonal elements by the virtual volume in the virtual simulation, wherein the reactive force is computed as a function of a volume of a penetrating portion of the virtual volume that penetrates the plane of the polygonal element;
- apply the reactive force to the virtual volume in the virtual simulation to reduce penetration of the polygonal element by the virtual volume;
- and
- command the manipulator to move the tool in accordance with application of the reactive force to the virtual volume in the virtual simulation to constrain movement of the tool relative to the virtual boundary.
A method of controlling a robotic system comprising a tool, a manipulator comprising a plurality of links and configured to move the tool, and one or more controllers coupled to the manipulator and configured to implement a virtual simulation wherein the tool is represented as a virtual volume being configured to interact relative to a virtual boundary defined by a mesh of polygonal elements, each of the polygonal elements comprising a plane, the method comprising:
- computing a reactive force in response to penetration of one of the polygonal elements by the virtual volume in the virtual simulation, wherein computing the reactive force is performed as a function of a volume of a penetrating portion of the virtual volume that is penetrating the plane of the polygonal element;
- applying the reactive force to the virtual volume in the virtual simulation for reducing penetration of the polygonal element by the virtual volume;
- and
- commanding the manipulator for moving the tool in accordance with application of the reactive force to the virtual volume in the virtual simulation for constraining movement of the tool relative to the virtual boundary.
A computer-implemented method of executing a virtual simulation wherein a tool is represented as a virtual volume being adapted to interact relative to a virtual boundary defined by a mesh of polygonal elements, each of the polygonal elements comprising a plane, the computer-implemented method comprising:
- computing a reactive force in response to penetration of one of the polygonal elements by the virtual volume in the virtual simulation, wherein computing the reactive force is performed as a function of a volume of a penetrating portion of the virtual volume that is penetrating the plane of the polygonal element;
- and
- applying the reactive force to the virtual volume in the virtual simulation for reducing penetration of the polygonal element by the virtual volume.
Dependencies are inferred from the claim text.