Correcting a robotic surgery user interface device tracking input
AssigneeVerb Surgical Inc.
InventorsHasan Tutkun Sen, Sina Nia Kosari
Life of this patent
Estimating the term…
Abstract
A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.
Claims20
A method comprising:
- receiving an input sequence of input samples that track position or orientation of an input device of a robotic surgery system,
- while a new input sample in the input sequence has not been received, computing a current output sample, wherein the current output sample is computed based on i) a previously computed output sample, and ii) a velocity term, and
- when the new input sample is received, computing a new output sample, based on i) a previously computed output sample, and ii) the new input sample;
- and
- producing an output sequence that includes the current output sample and the new output sample.
An article of manufacture comprising:
- a machine-readable medium having stored therein instructions that when executed by a processor of a robotic surgery system
- receive an input sequence of input samples that are measures of position or orientation of an input device,
- while a new input sample in the input sequence has not been received, compute a current output sample, wherein the current output sample is computed based on a tuning parameter that adjusts a sample-to-sample time interval used in a system model of the input device,
- when the new input sample is received, compute a new output sample, based on i) a previously computed output sample, and ii) the new input sample, and
- producing an output sequence that includes the current output sample and the new output sample.
Dependencies are inferred from the claim text.