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US 11,712,805 B2Granted
Control modes and processes for positioning of a robotic manipulator
AssigneeVerb Surgical Inc.
InventorsRenbin Zhou, Haoran Yu, Sina Nia Kosari, Omar J. Vakharia, Bernard Fai Kin Siu, Alex Kiturkes
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Abstract
A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.
Claims20
A method performed by a processor for controlling a robotic arm in a robotic surgical system, the method comprising:
- defining a reference plane for the robotic arm, wherein the robotic arm comprises a plurality of joints;
- and
- driving at least one of the plurality of joints to guide the robotic arm while enforcing a virtual fixture defined at the reference plane, wherein driving the at least one of the plurality of joints comprises generating an attractive force at the at least one of the plurality of joints in the virtual fixture, to bias the robotic arm toward the reference plane.
A robotic surgical system, comprising:
- at least one robotic arm comprising a plurality of joints;
- a processor configured to:
- define a reference plane for the at least one robotic arm, and
- drive at least one of the plurality of joints to guide the at least one robotic arm while enforcing a virtual fixture defined at the reference plane, wherein driving the at least one of the plurality of joints comprises generating an attractive force at the at least one of the plurality of joints in the virtual fixture, to bias the robotic arm toward the reference plane.
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Dependencies are inferred from the claim text.